Robot calibration using the CPC error mo
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Hanqi Zhuang; Zvi S. Roth
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Article
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1992
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Elsevier Science
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English
β 965 KB
The complete and parametrically continuous (CPC) robot kinematic modeling convention has no model singularities and allows the modeling of the robot base and tool in the same manner by which the internal links are modeled. These two properties can be utilized to construct robot kinematic error model