Kinematic calibration and geometrical parameter identification for robots

Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties

“…For example, when a robot picks up several tools of different dimensions, unknown orientations or gripping points, the overall kinematics and dynamics of the robot changes and are therefore difficult to derive exactly. Hence, even if the kinematics and dynamics parameters of the robot manipulator can be obtained with sufficiently accuracy by calibrations and identification techniques [8], [9], it is not flexible to do calibration or parameter identification for every object that a robot picks up, before manipulating it. It is also not possible for the robot to grip the tool at the same grasping point and orientation even if the same tool is used again.…”

Improving accuracy and flexibility of industrial robots using computer vision

“…Many authors (Jackson, et al 1995;Khalil, 1991;Maric & Potkonjak, 1999;Renders, et al 1991) presented open-loop methods that estimate the kinematic parameters of manipulators performing on the basis of joint coordinates and the Cartesian coordinates of the end-effector measurements. The joint encoder's outputs readings are joint coordinates.…”

“…The geometrical parameters estimation based on the differential model is the most popular one. Many authors presented open-loop methods that estimate the kinematic parameters of manipulators performing on the basis of joint coordinates and the Cartesian coordinates of the end-effector measurements (Jackson, et al 1995;Maric & Potkonjak, 1999;Renders, et al 1991). It is assumed that there is a measuring device that can sense the position (sometimes orientation) of an end-effector Cartesian coordinates.…”

Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration

“…Therefore, the identified kinematic parameters are more accurate, and are important for further research, such as temporal stiffness calibration. By contrast, other calibration methods using optimization identify all kinematic parameters simultaneously [26][27][28]. The optimization approach may achieve better end-effector position accuracy, but it sacrifices precision for individual parameters.…”