4 accepted papers
Unlike parallel robots, for which hundreds of different architectures have been proposed, the vast majority of six-degree-of-freedom (DOF) serial robots have one of two simple architectures. In both architectures, the inverse kinematics can be solved in closed form and the singularities described by…
Given that the success of an interaction task depends on the capability of the robot system to handle physical contact with its environment, pure motion control is often insufficient. This is especially true in the context of medical freehand ultrasound where the human body is a deformable surface a…
This paper presents an elasto-geometrical calibration method for improving the position accuracy of an industrial robot (ABB IRB 1600). Geometric parameter errors and joint stiffness parameters are identified through measuring the position of the robot's end-effector in several robot configurations
We propose an automated, closed-loop, and local calibration method for serial robots that uses a new, low-cost, 3D measuring device. The device consists of three Mitutoyo digital indicators, arranged in an orthogonal manner, and a mastering fixture based on kinematic coupling. The indicators communi