AUTONOMOUS CALIBRATION OF SINGLE-LOOP CLOSED KINEMATIC CHAINS FORMED BY MANIPULATORS WITH PASSIVE END-POINT CONSTRAINTS

被引：106

作者：

BENNETT, DJ

HOLLERBACH, JM

机构：

[1] Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge

[2] Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1991年 / 7卷 / 05期

关键词：

D O I：

10.1109/70.97871

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOF's) at the endpoint. If the mobile closed chain assumes a number of configurations, then loop consistency equations permit the manipulator and task kinematics to be calibrated simultaneously using only the joint angle readings; endpoint sensing is not required. Example tasks include a fixed endpoint (0-DOF task), the opening of a door (1-DOF task), and point contact (3-DOF task). Identifiability conditions are derived for these various tasks.

引用

页码：597 / 606

页数：10