Kinematic parameter identification for robotic manipulators
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United States of America Patent
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Oct 6, 1987
Grant Date -
N/A
app pub date -
Apr 4, 1986
filing date -
Apr 4, 1986
priority date (Note) -
Expired
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Abstract
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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