Abstract
In the continuation of a kinematic calibration method developed in a previous report, a new dynamic calibration model for serial robotic manipulators is presented in this paper. This model is based on the Zero Position Analysis Method. It entails the process of estimating the errors in the robot’s dynamic parameters by assuming that the kinematic parameters are free of errors. The convergence and effectiveness of the model are demonstrated through numerical simulations.
Volume Subject Area:
15th Design Automation Conference
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