Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1993.07a
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- Pages.355-358
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- 1993
A Study of Robot Calibration Using Modified D-H Notation
수정 D-H 표기법을 이용한 로봇 캘리브레이션에 관한 연구
- Park, Sang-Ho (Dept of E.E, KAIST) ;
- Chung, Myung-Jin (Dept of E.E, KAIST)
- Published : 1993.07.18
Abstract
This paper introduces what calibration is and how it is operated. The steps of calibration methods are discussed, which are modeling, measurement, parameter identification and compensation. Using modified D-H model, a new algorithm for parameter identification is developed. This algorithm is very simple and applicable to off-line robot simulator.
Keywords