2020
DOI: 10.21203/rs.3.rs-60243/v1
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Kinematic Calibration of a 7R 6-DOF Robot With Non-spherical Wrist Using Laser Tracker

Abstract: In this paper, a kinematic calibration method is proposed to improve the accuracy of a 7R 6-DOF robot with non-spherical wrist, where the parameters identifiability analysis and model reduction are particularly addressed in the identification procedure. Firstly, the kinematic error model of the robot is constructed based on the modified DH (MDH) model. Secondly, in order to derive a minimal model which is more suitable for practical application, model reduction is implemented considering compensability and con… Show more

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