Robot Calibration with Planar Constraints
نویسندگان
چکیده
This paper investigates issues related to robot calibration with planar constraints and, in particular observability conditions for the parameters of the kinematic model of the robot. Both singleand multiple-plane constraints for robot calibration are considered. It is shown that a single-plane constraint is n o d y insdlicient for calibrating a robot. It is also shown that by using a three-plane constraint, the constrained system is equivalent to an unconstrained point-measurement system under certain conditions. The significance of this result is that one can use the three-plane constraint setup to successfully calibrate a robot. Simulation results are provided that veri@ the theory presented.
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