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KINEMATIC PARAMETER IDENTIFICATION FOR ROBOTIC MANIPULATORS
KINEMATIC PARAMETER IDENTIFICATION FOR ROBOTIC MANIPULATORS
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机译:机器人的运动学参数辨识
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摘要
ABSTRACT OF THE DISCLOSUREA method and apparatus for kinematic parameteridentification of an industrial manipulator having eitherrevolute or prismatic joints. The identification ofindividual kinematic parameters is called the arm signatureof a robot. Through the identification and detailedmeasurement of mechanical features in a robot, kinematicfeatures, i.e. the planes of rotation and centers ofrotation for revolute joints and lines of translation forprismatic joints are identified. These three featurescontain the essential information to formulate a completerobot kinematic model.
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