A study of kinematic models for forward calibration of manipulators

The objective of robot calibration is to identify all parameters in a robot model 80 that the model represents the true robot. h c h model has its own set of parameters. This paper proves that regardless of the kinematic model chosen, there are a maximum number of parameters that must be determined, implying that model accuracy cannot be improved by adding “extra” parameters. In addition, the paper demonstrates how to model any manipulator 80 that a minimum size Jacobian is used, thus reducing the computation required for calibration. The concept of independent parameters is not new, but this is the first formal proof of the concept.