Calibration of a robotic manipulator and subsequent application of accuracy improvement techniques require precise measurement of manipulator position and orientation. This paper presents a comparison of two methods for computing position and orientation based on six or nine linear displacements measured in a test fixture.
A Simulation Analysis of Pose Measurement Error in Robot Calibration
Hutton, D. V., and Riley, D. L. (September 1, 1990). "A Simulation Analysis of Pose Measurement Error in Robot Calibration." ASME. J. Dyn. Sys., Meas., Control. September 1990; 112(3): 504–507. https://doi.org/10.1115/1.2896171
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