Non-geometrical parameters identification for robot kinematic calibration by use of neural network techniques
This paper presents a new technique for the calibration of robots, based on a neural network approach for the identification of non-geometrical errors. This approach avoids explicit modelling of this kind of error. Simulations have been carried out on a robot with 6 degrees of freedom. Two compensation algorithms are presented based on the improved knowledge of the model: the first is based on the construction of a false target, the second compensates directly into the joint space.
Bibliographic Reference: Paper presented: European Robotics and Intelligent Systems Conference, Corfu (GR), June 23-28, 1991
Availability: Available from (1) as Paper EN 36328 ORA
Record Number: 199111103 / Last updated on: 1994-12-02
Original language: en
Available languages: en