Analysis of the relationship between the physical and the mathematical kinematic parameters in robotic manipulator parameter estimation algorithms

摘要

Analysis of the Relationship between the Physical and the Mathematical Kinematic Parameters in Robotic Manipulator Parameter Estimation Algorithms Author: Ambarish Goswami Advisor: Dr. James R. Bosnik Although kinematic parameter estimation is well-established as a technique for improving end effector positioning accuracy of a robotic manipulator, little attention has been given to the relationship between the optimal mathematical parameters and the corresponding physical parameters of the manipulator. Such a relationship is very much desirable from the standpoint of preventive maintenance and isolation of sources of damage in the manipulator body. In this work, choice of kinematic model is shown to have a strong effect on this relationship, as well as on the calibration process in general. It is observed that the most desirable kinematic model for a given manipulator includes redundant parameters, which interact numerically among themselves during the solution process and complicate interpretation of results. A kinematic model with no redundant parameter, on the other hand, contains too few parameters to get a comprehensible relation between the physical dimensions of the manipulator and the mathematical parameters. Multiple point data collection in a single posture is shown to be of no significant help in preserving the mathematical/physical parameter relationship.