대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 하계학술대회 논문집 A
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- Pages.355-358
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- 1993
수정 D-H 표기법을 이용한 로봇 캘리브레이션에 관한 연구
A Study of Robot Calibration Using Modified D-H Notation
- Park, Sang-Ho (Dept of E.E, KAIST) ;
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Chung, Myung-Jin
(Dept of E.E, KAIST)
- 발행 : 1993.07.18
초록
This paper introduces what calibration is and how it is operated. The steps of calibration methods are discussed, which are modeling, measurement, parameter identification and compensation. Using modified D-H model, a new algorithm for parameter identification is developed. This algorithm is very simple and applicable to off-line robot simulator.
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