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Identifikation von Kalibrationsparametern kinematischer Ketten

 
: Schröer, K.
: Spur, G.

München: Hanser, 1993
Produktionstechnik, Berlin
ISBN: 3-446-17650-0
German
Book
Fraunhofer IPK ()
actuator model; calibration example; elasticity model; kinematic model; numerical parameter identification; robot calibration

Abstract
The theoretical background and justification in mechanics, differential geometry and numerical mathematics of the IPK robot calibration procedure RoboCal is presented in this Ph.D. thesis together with many examples. This does concern the models of kinematic geometry, actuating elements and elasticity, and the methods of numerical parameter identification and examination of reliability of calibration results.

: http://publica.fraunhofer.de/documents/PX-49388.html