Inverse kinematics robot calibration by spline functions. (English) Zbl 0785.70003
Summary: Inverse kinematics calibration is a technique used to improve the accuracy of robot manipulators when they are programmed off-line. This technique requires an approximation of position deviations of the end- effector of the robot. Three-variate splines are used as approximating functions; a stable and efficient algorithm for their computation is presented. Many experimental tests are performed to evaluate the merits of the approximation. The improvements in the accuracy of the robot, obtained after calibration, demonstrate the validity of the method.
MSC:
| 70-08 | Computational methods for problems pertaining to mechanics of particles and systems |
| 65D07 | Numerical computation using splines |
| 70B15 | Kinematics of mechanisms and robots |
References:
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