Abstract
In this article we show that any robot configuration comprising revolute and prismatic joints can be described using four basic geometric models. The accuracy of this geometric model can be easily enhanced with non geometric error models, e.g., for backlash, deflection, or tumbling. We show that a few rules are sufficient to assure that the entire model complies to the requirements of calibration and can be generated automatically.
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© 1998 Springer Science+Business Media Dordrecht
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Vincze, M., Spiess, S., Götz, M., Zeichen, G. (1998). Automatic Generation of Error Models of the Kinematics of Robots. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_21
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DOI: https://doi.org/10.1007/978-94-015-9064-8_21
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
Online ISBN: 978-94-015-9064-8
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