外文翻译--应用坐标测量机的机器人运动学姿态的标定.docVIP

Full-Pose Calibration of a Robot Manipulator Using a Coordinate- Measuring Machine Morris R. Driels, Lt W. Swayze USN and Lt S. Potter USN Department of Mechanical Engineering, Naval Postgraduate School, Monterey, California, US The work reported in this article addresses the kinematic calibration of a robot manipulator using a coordinate measuring machine (CMM) which is able to obtain the full pose of the end-effector. A kinematic model is developed for the manipulator, its relationship to the world coordinate frame and the tool. The derivation of the tool pose from experimental measurements