Abstract
The paper by Zhuang and Roth [5] presents a linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decompose the kinematic parameters estimation problem into many subproblems of a single joint axis such that the complexity is reduced and easier implementation is derived. In addition, this gives a unified solution for any serial manipulator with an arbitrary combination of prismatic and revolute joints.
Original language | English |
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Pages (from-to) | 777-780 |
Number of pages | 4 |
Journal | IEEE Transactions on Robotics and Automation |
Volume | 11 |
Issue number | 5 |
DOIs |
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Publication status | Published - Oct 1995 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering