Tool and sensor calibration, Of f-line programming, Rigid-body compensation
For off-line programming to work, systematic methods must be developed to account for non-ideal performance of the parts and devices in the manufacturing cell. Although much of the literature focuses on robot inaccuracy, this paper considers practical methods for the tool control frame (TCF) calibration and rigid-body compensation required to close the inverse kinematics loop for target driven tasks.
Original Publication Citation
Robotica 15.6(Nov 1997): 633-644.
BYU ScholarsArchive Citation
Red, Edward and Wang, Xuguang, "Robotic TCF and rigid-body calibration methods" (1997). Faculty Publications. 657.
Cambridge University Press
Ira A. Fulton College of Engineering and Technology
© 1997 Cambridge University Press
Copyright Use Information