Estimating 3-D Transformation of Robot End Effector

D. Svirko (Hungary)


Modeling, identification, control, inverse kinematics


The basis for all advanced robot control is a relationship between the Cartesian coordinates of the end effector and the manipulator joint coordinates. In order to control the robot, we are interested in the reverse problem. There are well-known methods for the reverse problem, but if we want to use them, we must know the numeric values of the matrix expressing the end effector position and orientation. We propose a method to obtain this matrix if the linear accelerations of three points of the robot end effector are available from measurement.

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