A LINEAR SOLUTION TO THE KINEMATIC PARAMETER-IDENTIFICATION OF ROBOT MANIPULATOR - COMMENTS AND SOME MODIFICATIONS

The paper by Zhuang and Roth [5] presents a linear solution to kinemat ic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved f irst before solving for the translation parameters for all revolute jo ints and the orientation parameters for all prismatic joints simultane ously. Our major modification here is to decompose the kinematic param eters estimation problem into many subproblems of a single joint aids such that the complexity is reduced and easier implementation is deriv ed. In addition, this gives a unified solution for any serial manipula tor with an arbitrary combination of prismatic and revolute joints.