Model
Digital Document
Publisher
Florida Atlantic University
Description
This thesis is concerned with the use of calibration techniques to
increase robot accuracy. It is mainly an overview of some of the
problems involved in the identification phase of calibration. A robot
error model is developed and Kalman filtering algorithm is used in the
identification of robot kinematic error parameters. Computer
simulations and examples are used to study the behavior of the Kalman
filter and its theoretical advantages in robot calibration.
increase robot accuracy. It is mainly an overview of some of the
problems involved in the identification phase of calibration. A robot
error model is developed and Kalman filtering algorithm is used in the
identification of robot kinematic error parameters. Computer
simulations and examples are used to study the behavior of the Kalman
filter and its theoretical advantages in robot calibration.
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