Observability Issues in Kinematic Identification of Manipulators

DOI10.1115/1.2896531MaRDI QIDQ4014541zbMATH OpenOpenAlexFDO

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

zbMATH Keywords

kinematic modelingkinematic parameter errors

Mathematics Subject Classification ID

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

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Cited in

(6)

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

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