The Identification of Geometric Link Parameters of Robot Manipulators
机器人几何连杆参数辨识

In this paper, a method for geometric link parameter estimation of robot manipulators has been proposed Based on the kinematic model and kinematic error model of a robot, linear input-output equations concerning all of unknown parameters are developed. The unknown parameters are estimated by the least square method. This method has been applied to the parameter estimation of an actual PUMA 760 industrial robot.