Basic considerations for robot calibration

摘要

The effect of kinematic model choice on robot calibration is examined. The literature on the subject is reviewed, and the various possible choices for kinematic modeling are examined. Problems of uniqueness and proportionality are discussed, and a closed-form method for extracting the parameters of a six-parameter model is shown.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>