Identification of Robot Kinematic Parameters for the Nearly Parallel Joints
This paper presents a simple identification method of the actual kinematic parameters for the robot with parallel joints. It is known that Denavit—Hartenberg’s coordinate system is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The identified kinematic parameters which make the error function zero are obtained by iterative least square error method based on the singular value decomposition.
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