Calibration plays an increasingly important role in enhancing robots positing accuracy. The
research gives an overview of the existing work on robot calibration and points out the utility …

The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling,
identification, and control of robotic manipulators with rigid links in an effort to improve robot …

New general kinematic models for robot calibration are presented in this paper. These
models have the distinct advantage of satisfying the model-parameter identification …

The geometric dimensioning and tolerancing (GD&T) specifications of a design are directly
associated with its performance and functional requirements. They also govern the …

The positioning accuracy of commercially-available industrial robotic manipulators depends
upon a kinematic model which describes the robot geometry in a parametric form …

Typical approaches to calibrate industrial robots are based on open-and closed-loop
methods; the screw–axis measurement methods traditionally receive much less attention …

Robot end-effector locations (position and orientation) achieved by controlling joint values
obtained from a robot controller will, in general, deviate from the desired location due to …

Theory of Kinematic Modeling and Numerical Procedures for Robot Calibration Page 1
Chapter 9 Theory of Kinematic Modeling and Numerical Procedures for Robot Calibration K …

For many applications, robots are needed which have an absolute Cartesian pose accuracy
of the same order of magnitude as their repeatability. Calibration procedures must be …

The original adjoint error model is a complete, continuous, and minimal calibration model.
However, the original model is defective in its mathematical derivation, and the method of …