Abstract
To enable optimization of the kinemetic calibration conditions of a robot to its task, we devised a method of estimating the output pose error after calibration and an error evaluation index. The index is based on the linearized relationship between the output pose error and measurement error. It depends on the kinematic parameters of the robot, calibration conditions and error evaluation conditions specified by the robot’s task. An experimental application to a parallelmechanism pipe bender was also undertaken.
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© 2009 Springer-Verlag Berlin Heidelberg
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Imoto, J., Takeda, Y., Saito, H., Ichiryu, K. (2009). Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender). In: Kecskeméthy, A., Müller, A. (eds) Computational Kinematics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-01947-0_17
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DOI: https://doi.org/10.1007/978-3-642-01947-0_17
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