Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1986-04-04
1987-10-06
Roskoski, Bernard
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318567, 901 14, 901 15, B25J 102, G05B 106
Patent
active
046985727
ABSTRACT:
A method and apparatus for kinematic parameter identification of an industrial manipulator having either revolute or prismatic joints. The identification of individual kinematic parameters is called the arm signature of a robot. Through the identification and detailed measurement of mechanical features in a robot, kinematic features, i.e. the planes of rotation and centers of rotation for revolute joints and lines of translation for prismatic joints are identified. These three features contain the essential information to formulate a complete robot kinematic model.
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Ip Shik Luen Paul
Roskoski Bernard
Studebaker R.
Westinghouse Electric Corp.
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