Automatic Generation Of Non-Redundant And Complete Models For Geometric And Non-Geometric Errors Of Robots

Abstract

Problems encountered in accunte kinematic modelling are suitability to calibration, which requires a complete, proportional, and non-redundant model, the capability to desatibe arbitrary configurations and types of joints, and the automatic generation of such a model. In this article we show that any robot configuration comprising revolute and prismatic joints can be described using four basic geometric models. The accuracy of this geometric model can be easily enhanced with non-geometric error models, e.g., for backlash, deflection, or tumhling. We show that a few rules are sufficient to assure that the entire model complies with the requirements of calibration and can be generated automatically. The Stanford robot is modelled as an example application.