Identification of manipulator kinematics parameters through iterative method

In this study, a numerical procedure for the identification of manipulator kinematics parameters is proposed to determine the precise positioning of a robot. To achieve the objective, an iterative based optimization technique was formulated which minimizes the Cartesian positioning of a manipulator by determining its rigid geometrical parameters such as the link lengths, twists, and off-sets joint angles. A closed kinematics chain was formulated using only internal joint angle readings, which directly provide the calibration mechanism for the manipulator. A gradient projection algorithm was used to obtain the optimal parameters that had satisfied the world coordinates from the joint angles reading. The proposed method is numerically stable since it converges to the correct answer, with virtually any initial approximation. and also produces the null solution. A case study on the RT100 SCARA type robot was presented.

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