Abstract
This paper reports the experimental results of a novel method to calibrate geometric errors of multi-axis robotic manipulators. The method proposed by the authors is based on a least-square estimation of the rotation matrix of a rigid body in three-dimensional Cartesian space. The error is filtered by imposing the orthogonality constraint on the rotation matrix, using the polar-decomposition theorem. The axis of rotation of the rigid body, then, is computed from the linear invariants of the rotation matrix. Finally, the wrist of the Yaskawa Motoman Robot was calibrated. The measurements of the Cartesian coordinates of points were performed using a computer vision system and LED markers on a rigid body grasped by the end-effector.
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References
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© 1990 Springer-Verlag
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Ioannides, G., Angeles, J., Flanagan, R., Ostry, D. (1990). Robot calibration using least-squares and polar-decomposition filtering. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042541
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DOI: https://doi.org/10.1007/BFb0042541
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