Modelling experimental procedures for manipulator calibration

Modelling experimental procedures for manipulator calibration

Approved for public release; distribution is unlimited === A six-degree of freedom manipulator, a PUMA 560, is calibrated using three different measurement systems in order to improve the accuracy of the manipulator. Closed loop kinematic chain modeling theory is presented. Variations in the model...

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Main Author: Swayze, William Earl
Other Authors: Driels, Morris
Language:en_US
Published: Monterey, California. Naval Postgraduate School 2013
Online Access:http://hdl.handle.net/10945/27140
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spelling ndltd-nps.edu-oai-calhoun.nps.edu-10945-271402015-08-18T15:58:26Z Modelling experimental procedures for manipulator calibration Swayze, William Earl Driels, Morris Naval Postgraduate School (U.S.) Department of Mechanical Engineering Approved for public release; distribution is unlimited A six-degree of freedom manipulator, a PUMA 560, is calibrated using three different measurement systems in order to improve the accuracy of the manipulator. Closed loop kinematic chain modeling theory is presented. Variations in the models for each calibration method are presented. A simulation study is conducted to determine feasibility of the proposed methods. Experimental data is obtained and the actual calibration performed. A comparative analysis between both simulation and experiment and between measurement systems is performed. Various aspects regarding measurement system modeling are discussed. The calibrated kinematic parameters are presented as results. 2013-01-23T22:09:39Z 2013-01-23T22:09:39Z 1991-12 Thesis http://hdl.handle.net/10945/27140 en_US This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, it may not be copyrighted. Monterey, California. Naval Postgraduate School
collection NDLTD
language en_US
sources NDLTD
description Approved for public release; distribution is unlimited === A six-degree of freedom manipulator, a PUMA 560, is calibrated using three different measurement systems in order to improve the accuracy of the manipulator. Closed loop kinematic chain modeling theory is presented. Variations in the models for each calibration method are presented. A simulation study is conducted to determine feasibility of the proposed methods. Experimental data is obtained and the actual calibration performed. A comparative analysis between both simulation and experiment and between measurement systems is performed. Various aspects regarding measurement system modeling are discussed. The calibrated kinematic parameters are presented as results.
author2 Driels, Morris
author_facet Driels, Morris
Swayze, William Earl
author Swayze, William Earl
spellingShingle Swayze, William Earl
Modelling experimental procedures for manipulator calibration
author_sort Swayze, William Earl
title Modelling experimental procedures for manipulator calibration
title_short Modelling experimental procedures for manipulator calibration
title_full Modelling experimental procedures for manipulator calibration
title_fullStr Modelling experimental procedures for manipulator calibration
title_full_unstemmed Modelling experimental procedures for manipulator calibration
title_sort modelling experimental procedures for manipulator calibration
publisher Monterey, California. Naval Postgraduate School
publishDate 2013
url http://hdl.handle.net/10945/27140
work_keys_str_mv AT swayzewilliamearl modellingexperimentalproceduresformanipulatorcalibration
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