Vector-algebra method developed for extracting Denavit-Hartenberg parameters for any assembled robot arm. Method for extracting relative joint geometry of robot arms useful to researchers who need data for existing robot arms for either validation of mathematical models or for studies involving actual control of these devices. Method, does not require robot arm to be disassembled, also useful in recalibration of misalined or bent robot arm and becomes useful industrial procedure. Merit of method is errors not propagated.
Computing Relative Joint Positions of Robot Arms
NASA Tech Briefs ; 9 , 3
1986-01-01
Miscellaneous
No indication
English
Control of Robot Arms Using Joint Torque Sensors
British Library Online Contents | 1998
|Algorithm for Calibrating Robot Arms
NTRS | 1986
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