Perturbation Approach to Robot Calibration

摘要

The forward and reverse solutions of a manipulator with six joints are expanded up to second order in the 24 joint parameters. This paper attempts to establish a mathematical reference frame for geometric errors only. No attempt is made to quantify the relative contribution of geometric and non-geometric errors, since this ratio is application dependent and will also depend on the design of the manipulator itself. Since in high speed operations high positional accuracy is desirable, we address the question of how to cope with geometric deviations from the ideal manipulator configuration.