Kinematic parameter identification for robotic manipulators

Details Kinematic parameter identification for robotic manipulators Kinematic parameter identification for robotic manipulators

B - Operations, Transporting

25

J

294/5

B25J 1/02 (2006.01) B25J 9/00 (2006.01) B25J 9/16 (2006.01) B25J 13/08 (2006.01) G01B 21/04 (2006.01)

Patent

CA 1275670

ABSTRACT OF THE DISCLOSURE A method and apparatus for kinematic parameter identification of an industrial manipulator having either revolute or prismatic joints. The identification of individual kinematic parameters is called the arm signature of a robot. Through the identification and detailed measurement of mechanical features in a robot, kinematic features, i.e. the planes of rotation and centers of rotation for revolute joints and lines of translation for prismatic joints are identified. These three features contain the essential information to formulate a complete robot kinematic model.

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