Comments on "A linear solution to the kinematic parameter identification of robot manipulator" and some modifications.
Journal
IEEE Trans. Robotics and Automation
Journal Volume
11
Journal Issue
5
Pages
777-780
Date Issued
1995
Author(s)
Abstract
The paper by Zhuang and Roth (ibid. vol.9, p.174-85 (1993)) presents a linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decompose the kinematic parameters estimation problem into many subproblems of a single joint axis such that the complexity is reduced and easier implementation is derived. In addition, this gives a unified solution for any serial manipulator with an arbitrary combination of prismatic and revolute joints.>
Type
journal article