Identifying robot parameters using partial pose information

Abstract

A simple radial-distance linear transducer (LVDT) that measures the distance from several fixed points in the workspace to the robot's endpoint has been used to infer the kinematic parameters of a robot. The motivation, theory, implementation, and performance of this particularly easy calibration and parameter identification method are discussed. A disagreement in the literature about the type of measuring system (in particular, the dimensionality of the pose measurements) needed to fully identify a robot's kinematic parameters is addressed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>