Geometric parameters estimation of robotic systems

摘要

The author describes a method for robot parameter estimation which allows the computational problems to be reduced and the area of the workspace where the Jacobian matrix is well defined to be established. Results from the estimation of the two-DOF (degree-of-freedom) SCARA-type robot are presented. It is shown that the proposed approach for robot parameter estimation enables one to increase the accuracy of robots by approximately 100 times.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>