chapter  6
30 Pages

Kinematic Identification

Linear Solution Approaches
ByHanqi Zhuang, Zvi S. Roth

This chapter presents a number of linear solutions for the identification of unknown robot kinematic parameters. These solution methods employ the Complete and Parametrically Continuous model. Determining kinematic parameters directly from the kinematic model given the measurement data, although appealing both theoretically and practically, is difficult since pose components of the robot end-effector are in general nonlinear functions of the robot link parameters. Extensive off-line simulations are often required to determine for each individual robot, the number of and the optimal choice of measurement configurations, to ensure a reasonably small condition number of the "Identification Jacobian". An alternative class of robot kinematic identification techniques consists of extracting the kinematic parameters from identified orientation and position of the joint axes obtained by tracking one or more target points located on the robot while moving each robot joint one at a time through a significant portion of the joint travel.