COMPLETE, MINIMAL AND MODEL-CONTINUOUS KINEMATIC MODELS FOR ROBOT CALIBRATION

New general kinematic models for robot calibration are presented in th is paper, These models have the distinct advantage of satisfying the m odel-parameter identification requirements of completeness, minimality and model continuity for all combinations and configurations of revol ute and prismatic joints, A set of 17 model parametrizations are devel oped, including simple criteria for deciding which parametrizations ar e to be used in modelling a robot. The parametrizations presented also result in an accurate representation of the physical robot and thus a llow realistic integration of elastic deformation models, Model contin uity within each parametrization's application range is shown by means of differential geometry. Also shown is how these models are be extra cted from a non-complex ''vector-chain'' description of a robot. (C) 1 997 Elsevier Science Ltd.