Much work has been done in the area of stationary calibration of manipulators. Recently, for situations where the mechanism’s behavior while in motion plays a larger role in the positioning accuracy of the end-effector, interest has shifted towards motion calibration techniques. Two kinds of motion calibration for a two-link manipulator are presented and evaluated in this paper. Dynamic calibration addresses the manipulator’s response as it traces a certain trajectory and vibrational calibration deals with the mechanism’s flexible response. Several researchers have investigated various methods of dynamic calibration. While modal models have been studied for flexible manipulators, the area of vibrational calibration is not as well developed. The objective of this work is to evaluate and compare these two calibration approaches involving motion of the manipulator and to determine the contribution of each approach towards a more complete calibration of a manipulator. To accomplish this goal, dynamic and vibrational calibration numerical studies were conducted using the multibody dynamic simulation program ADAMS and the finite element analysis program ANSYS, respectively
|Number of pages||11|
|State||Published - 1994|
|Event||Guidance, Navigation, and Control Conference, 1994 - Scottsdale, United States|
Duration: Aug 1 1994 → Aug 3 1994
|Conference||Guidance, Navigation, and Control Conference, 1994|
|Period||8/1/94 → 8/3/94|
Bibliographical noteFunding Information:
Ann Barnes' efforts were supported by an Office of Naval Research Graduate Fellowshp. Suzanne Weaver Smith's efforts were supported by an NSF Young Investigator Award, grant MSS-9257633. The authors are grateful for thls support and for the help of Randall Mayes, Sanda Laboratories, Albuquerque, NM. In addtion, the authors would like to thank Mr. Lynn Tilley, Mr. Wes Morgan, and Mr. Justin Sullivan for the system support they have provided.
© 1994 American Institute of Aeronautics and Astronautics. Inc. All rights reserved.
ASJC Scopus subject areas
- Control and Systems Engineering
- Aerospace Engineering