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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© 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
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