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Identification and calibration of the geometric parameters of robots

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  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

This paper presents a general method to identify the geometric parameters of serial robots. The robot location and the tool location parameters are taken into account. Experimental results are applied on a six degree of freedom robot of cylindrical type. The measurement of the coordinates of the position of the tool is carried out by means of two theodolites.

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Author information

Authors and Affiliations

  1. E.N.S.M, Laboratorie D'automatique, URA CNRS 256, 44072, NANTES Cedex, France

    W. Khalil & Ch. Enguehard

  2. Ecole des Mines de Douai, BP 838, 59508, DOUAI Cedex, France

    J. L. Caenen

Authors
  1. W. Khalil
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  2. J. L. Caenen
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  3. Ch. Enguehard
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Khalil, W., Caenen, J.L., Enguehard, C. (1990). Identification and calibration of the geometric parameters of robots. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042539

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  • DOI: https://doi.org/10.1007/BFb0042539

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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