![]() ![]() and Becque reported that flexibility in joints and in links is responsible for 8–10% of the total position and orientation errors. Judd and Kasinski studied an AID-900 robot and found that the geometric errors were responsible for approximately 95% of the measured error. used a PUMA 560 robot to determine that the most significant error sources for the robot were several nongeometric errors. In addition, the kinematic errors are not the only source of robot manipulator errors. However, those attempts did not seem to be very effective. There have been some attempts to replace the least square estimation with the Kalman filter, particle filter, fuzzy theory, etc. This model has been adopted by several researchers. Park and Okamura employed the product of exponentials (POE) error model to robot calibration. Another fundamental model-based calibration method is the complete and parametrically continuous (CPC) model, which relies on the singularity-free line representation by Zhuang et al. There are also other methods such as the zero-reference position model that is proposed by Gupta et al., which has been widely used by many studies. The model is a description of the kinematic relations between the links of a kinematic chain connected by 1 degree-of-freedom lower pair joints. The DH model is based on homogenous transformation matrices. proposed one of the most fundamental calibration methods that is widely used. The kinematic calibration method has been widely researched by numerous studies to describe the proper geometric model. ![]() ![]() For that reason, there is a demand to create model-based robotic calibrations that depend on an error model that symbolizes the connection between the errors of geometric parameters and the end effector positioning errors. In producing and assembly, many errors arise that could not be taken into account by the nominal geometric model. Therefore, the utility of robot manipulators would be significantly enhanced if they were made to be as accurate as they are repeatable. However, experience has shown that industrial manipulators have much greater repeatability than accuracy. The construction of robot manipulators is characterized using their kinematic model parameters. Robot manipulators are widely used in industry to attain many duties such as welding, painting, pick and place task, etc. ![]()
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