Observability Issues in Kinematic Identification of Manipulators

DOI10.1115/1.2896531zbMATH Open0774.93056OpenAlexW2164495650MaRDI QIDQ4014541FDOQ4014541

Authors: Hanqi Zhuang, Zvi S. Roth, Fumio Hamano 

Publication date: 11 October 1992

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2896531

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zbMATH Keywords

kinematic modelingkinematic parameter errors

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Cited In (6)

• Study on observability of a parallel-typed machining center using a single planar table and digital indicators
• Parameter identification for two-axis gimbal system and its kinematic calibration
• Fast identification method for kinematic parameters of a planar 2-D of parallel manipulator
• Large kinematic error propagation in revolute manipulators
• Identifiability of Lagrangian Systems With Application to Robot Manipulators
• Comparison of the observability indices for robot calibration considering joint stiffness parameters

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