This article examines the factors influencing the identification and observability of kinematic parameters during robot calibration. A generalized calibration experiment has been simulated using two different identification techniques. Details of the identification techniques and considerations for implementing them using standard IMSL routines are presented. The factors considered during the simulations include: initial estimates of parameters, measurement accuracy and noise, encoder resolution and uncertainty, selection of measurement configurations, number of measurements, and range of motion of the joints during observations. Results are tabulated for the various cases and suggestions are made for the design of robot calibration experiments.

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The work reported in this article addresses the kinematic calibration of a robot manipulator using a coordinate measuring machine (CMM)

Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. 12b. DISTRIBUTION CODE ABSTRACT (maximum 200 words)Many weapon effectiveness tools are implemented using a Monte Carlo simulation approach since closed form solutions are too mathematically intractable to compute. A question that usually arises in connection with such simulations is to ask how many iterations of a particular Monte Carlo simulation are needed. This report proposed the probability-based approach to computing effectiveness measures for better feedback to the user regarding the relationship between the number of iterations executed and confidence measures associated with the result. Reproduction of all or part of this report is authorized. NUMBER OF PAGES 30 SUBJECT TERMS

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The concept of using a method to constrain the endpoint of a serial linkage (such as a robot manipulator) in order to identify the kinematic parameters is appealing, since it no longer becomes necessary to use ancillary equipment to measure the pose, partial or otherwise. This means that the joint angles obtained from the manipulator and knowledge of the type of constraint, are all that is needed to perform the calibration. This concept is applied to the calibration of a six-degree-of-freedom manipulator by connecting its end point to a table by means of a ball bar. The kinematic equations of the manipulator and constraint are developed, and then used to simulate the calibration process in order to determine whether the noise level present in the measurements disrupts the convergence of the process, the effect of measurement noise on the accuracy of identification and the number of experimental observations needed. The acquisition of experimental data is then described, and the results of the identification are discussed. It is concluded that for certain types of kinematic structures, this method of calibration is particularly attractive since it is rapid, simple to perform, and requires very little precision equipment.

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