Inverse kinematic solution for near-simple robots and its applications to robot calibration
Proceedings of the International Symposium on Robot Manipulators on Recent trends in robotics: modeling, control and education
A general procedure to evaluate robot positioning errors
International Journal of Robotics Research
Application of a general learning algorithm to the control of robotic manipulators
International Journal of Robotics Research
International Journal of Robotics Research
Robot Motion Planning
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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Current robot calibration schemes usually employ calibration models with constant error parameters. Consequently,they are inevitably subject to a certain degree of locality, i.e., the calibrated error parameters (CEPs) will produce the desiredaccuracy only in certain regions of the robot workspace. To deal with the locality phenomenon, CEPs that vary in differentregions of the robot workspace may be more appropriate. Hence, we propose a variable D-H (Denavit and Hartenberg)parameter model to formulate variations of CEPs. An FCMAC (Fuzzy Cerebellar Model Articulation Controller) learningalgorithm is used to implement the proposed variable D-H parameter model. Simulations and experiments that verify theeffectiveness of the proposed calibration scheme based on the variable D-H parameter model are described.