A linear solution to the kinematic parameter identification of robot manipulators

A linear method for identifying the unknown kinematic parameters of a manipulator directly from the forward kinematic model is presented. The method requires the use of neither a nominal model nor a linearized error model of the robot. Such a solution is made possible by the use of a special robot kinematic modeling convention known as the complete and parametrically continuous (CPC) model, in which the independent CPC link parameters appear linearly in the system of equations to be solved, and the use of a particular sequence of robot pose measurements. The CPC orientation parameters of the revolute joints are first determined recursively under the condition that the pose measurements of the robot are taken while releasing each revolute joint one at a time and successively. The remaining CPC parameters are then computed in terms of the orientation parameters obtained earlier. Some practical issues related to kinematic parameter identification with the proposed approach are addressed through simulation studies.>