• Title/Summary/Keyword: calibrated inverse kinematic solutions

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An Accuracy Improvement Algorithm for the Manipulators with Closed-Form Inverse Kinematic Solutions (닫힌 형태의 역기구학 해를 갖는 매니퓰레이터의 정밀도 개선 알고리즘)

  • Cho, Hye-Kyung;Cho, Sung-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.12
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    • pp.1093-1098
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    • 2000
  • This paper presents an efficient algorithm for including the kinematic calibration data into the motion controller to improve the positioning accuracy of the manipulators. Rather than spending several iterations for finding the inverse solution of the calibrated kinematics, our approach requires only the nominal inverse solution and the calibrated forward kinematics for providing a better position command promptly. Thus, real-time application is guaranteed whenever the manipulators nominal inverse solution can be expressed in a closed form. Experimental results show that the line tracking performances can be remarkably improved by employing our algorithm.

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