Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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An Accuracy Improvement Algorithm for the Manipulators with Closed-Form Inverse Kinematic Solutions

닫힌 형태의 역기구학 해를 갖는 매니퓰레이터의 정밀도 개선 알고리즘

  • Cho, Hye-Kyung (School of Information and Computer Engineering Hansung University) ;
  • Cho, Sung-Ho (Manufacturing Technology Lab., IAE)
  • 조혜경 (한성대학교 정보전산학부) ;
  • 조성호 (고등기술연구원 생산기술연구실)
  • Published : 2000.12.01
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Abstract

This paper presents an efficient algorithm for including the kinematic calibration data into the motion controller to improve the positioning accuracy of the manipulators. Rather than spending several iterations for finding the inverse solution of the calibrated kinematics, our approach requires only the nominal inverse solution and the calibrated forward kinematics for providing a better position command promptly. Thus, real-time application is guaranteed whenever the manipulators nominal inverse solution can be expressed in a closed form. Experimental results show that the line tracking performances can be remarkably improved by employing our algorithm.

Keywords

References

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