Abstract
Improving the position accuracy of the closed chain robots needs a global robot kinematic model. Their closed loop constraints should be included in the global model via the specific passive joints of the robot. This paper proposes a simple but effective method to derive a mathematical formula for identification of all parameters of the robots having multiple closed chain mechanisms. An experimental calibration is carried out on a Hyundai HP160 robot to validate the correctness and effectiveness of the proposed method.
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Nguyen, HN., Zhou, J., Kang, HJ., Le, TD. (2014). Position Accuracy Improvement of Robots having Closed-Chain Mechanisms. In: Huang, DS., Jo, KH., Wang, L. (eds) Intelligent Computing Methodologies. ICIC 2014. Lecture Notes in Computer Science(), vol 8589. Springer, Cham. https://doi.org/10.1007/978-3-319-09339-0_29
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DOI: https://doi.org/10.1007/978-3-319-09339-0_29
Publisher Name: Springer, Cham
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