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  4. Kinematische Modellierung für die Roboterkalibration
 
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1995
Conference Paper
Title

Kinematische Modellierung für die Roboterkalibration

Abstract
Presented in this paper are new general kinematic models for robot calibration. These models have the distinct advantage of satisfying the model-parameter identification requirements of completeness, minimality and model-continuity for all combinations and configurations of revolute and prismatic joints. Developed are a set of 17 model parametrizations, including simple criteria for deciding which parametrizations are to be used in modelling a robot. The presented parametrizations also result in an accurate representation of the physical robot and thus allow realistic integration of elastic deformation models. Model continuity within each parametrisation's application range is shown by means of differential geometry.
Author(s)
Schröer, K.
Mainwork
Mathematik in der Praxis  
Conference
Mathematik in Industrie und Wirtschaft 1993  
Language
German
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
Keyword(s)
  • kinematic model

  • manipulator

  • robot

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