A Simulation Analysis of Pose Measurement Error in Robot Calibration

[+] Author and Article Information
D. V. Hutton

Department of Mechanical and Materials Engineering, Washington State University, Pullman, Wash. 99164-2920

D. L. Riley

Sandia National Laboratories, Livermore, California 94550

J. Dyn. Sys., Meas., Control 112(3), 504-507 (Sep 01, 1990) (4 pages) doi:10.1115/1.2896171 History: Received September 22, 1987; Online March 17, 2008


Calibration of a robotic manipulator and subsequent application of accuracy improvement techniques require precise measurement of manipulator position and orientation. This paper presents a comparison of two methods for computing position and orientation based on six or nine linear displacements measured in a test fixture.

Copyright © 1990 by The American Society of Mechanical Engineers
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