A new kinematic modeling convention for robot manipulators is proposed. The kinematic model is termed after its "completeness and parametric continuity" (CPC) properties. Parametric continuity of the CPC model is achieved by adopting a singularity-free line representation consisting of four line parameters. Completeness is achieved through adding two link parameters to allow arbitrary placement of link coordinate frames. The transformations from the world frame to the base frame and from the last link frame to the tool frame can in the CPC model be modeled with the same modeling convention as that used for internal link transformations. Since all the redundant parameters in the CPC model can be systematically eliminated, a linearized robot error model can be constructed in which all error parameters are independent and span the entire geometric error space. These properties make the CPC model particularly useful for robot calibration. The paper focuses on model construction, mappings between the CPC model and the Denavit-Hartenberg model, study of the model properties, and its application to robot kinematic calibration.

No abstract

No abstract

No abstract

Abstrucr-The paper presents a linear solution that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot flange coordinate frames. The flange frame is defined on the mounting surface of the end-effector. It is assumed that the robot geometry, i.e., the transformation from the robot base frame to the robot flange frame, is known with sufficient accuracy, and that robot end-effector poses are measured. The solution has applications to accurately locating a robot with respect to a reference frame, and a robot sensor with respect to a robot end-effector. The identification problem is cast as solving a system of homogeneous transformation equations of the form A,X = YB,, 1 = 1 2 . rv. Quaternion algebra is applied to derive explicit linear solutions for X and Y provided that three robot pose measurements are available. Necessary and sufficient conditions for the uniqueness of the solution are stated. Computationally, the rewlting solution algorithm is noniterative, fast and robust.