Well-conditioned sets of configurations for calibration of kinematics' parameters of IRb-6, IRp-6 and URP-6 manipulators.

• Autorzy: Szkodny T.
• Języki publikacji: EN

Abstrakty

EN

In this paper, a measure of condition sets of configurations for the calibration of the kinematics' parameters of IRb-6, IRp-6 and URP-6 manipulators is proposed. The following conditions were analyzed: size of set, sensitiveness of configurations to kinematics' parameter errors, linear dependence of columns and rows of measure matrix. This matrix is created by position coordinates of a gripper in all configurations of the tested set. On the basis of this analysis of linear dependance of columns and row of Jacobi matrix of IRb-6, IRp-6, URP-6 manipulators the way of generation of sets of configurations for calibration was proposed. From among 12960 discretization points of servo's space of these manipulators the sets of configurations which are best conditioned have been created. These sets are necessary for the calibration of kinematics' parameters of these manipulators. These sets are useful for calibration which is based on direct kinematics models.

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 1998
• Tom: Vol. 24, nr 4
• Strony: 65--80
• Opis fizyczny: Bibliogr. 18 poz., tab. 1, rys. 8

Twórcy

autor

Szkodny T.

• Institute of Automation, Silesian Technical University, ul. Akademicka 16, 44-100 Gliwice, Poland.