This article examines the factors influencing the identification and observability of kinematic parameters during robot calibration. A generalized calibration experiment has been simulated using two different identification techniques. Details of the identification techniques and considerations for implementing them using standard IMSL routines are presented. The factors considered during the simulations include: initial estimates of parameters, measurement accuracy and noise, encoder resolution and uncertainty, selection of measurement configurations, number of measurements, and range of motion of the joints during observations. Results are tabulated for the various cases and suggestions are made for the design of robot calibration experiments.

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The work reported in this article addresses the kinematic calibration of a robot manipulator using a coordinate measuring machine (CMM)

Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. 12b. DISTRIBUTION CODE ABSTRACT (maximum 200 words)Many weapon effectiveness tools are implemented using a Monte Carlo simulation approach since closed form solutions are too mathematically intractable to compute. A question that usually arises in connection with such simulations is to ask how many iterations of a particular Monte Carlo simulation are needed. This report proposed the probability-based approach to computing effectiveness measures for better feedback to the user regarding the relationship between the number of iterations executed and confidence measures associated with the result. Reproduction of all or part of this report is authorized. NUMBER OF PAGES 30 SUBJECT TERMS

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