Accession Number : ADA298891

Title :   Robotic Manipulator Calibration: Development of a General Method for Kinematic Model Parameter Set Identification.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Burger, Robert J.

PDF Url : ADA298891

Report Date : DEC 1994

Pagination or Media Count : 113

Abstract : A general method for establishing a kinematic model of a robotic manipulator with either a full or partial pose calibration system is developed. The theory applicable to modeling of mechanisms is introduced, as is robotic manipulator calibration. Given a general over-specified kinematic model, a method is developed, with the associated algorithms for a six degree of freedom manipulator, that identifies non-unique parameter sets for any given partial pose measurement system. This method is applied and demonstrated on three existing calibration methods. (AN)

Descriptors :   *ROBOTICS, KINEMATICS, COMPUTER PROGRAM DOCUMENTATION, MATHEMATICAL MODELS, ALGORITHMS, COMPUTERIZED SIMULATION, SOFTWARE ENGINEERING, OPTIMIZATION, DATA MANAGEMENT, PARAMETERS, RANDOM VARIABLES, MATRICES(MATHEMATICS), THESES, DEGREES OF FREEDOM, TRANSFORMATIONS(MATHEMATICS), SYSTEMS ANALYSIS, CALIBRATION, CONTROL THEORY, SUBROUTINES, MANIPULATORS.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE