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In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1 m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and the corresponding error function is defined. The identified kinematic parameters, which make the error function zero, are obtained by the iterative least square method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.<\/jats:p>","DOI":"10.1017\/s0263574700015617","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:18:45Z","timestamp":1236691125000},"page":"99-105","source":"Crossref","is-referenced-by-count":13,"title":["Identification and Compensation of a Robot Kinematic Parameter for Positioning Accuracy Improvement"],"prefix":"10.1017","volume":"9","author":[{"given":"D. H.","family":"Kim","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"K. H.","family":"Cook","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J. H.","family":"Oh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700015617_ref012","doi-asserted-by":"crossref","unstructured":"12. Wu C-H. , \u201cThe Kinematic Error Model for the Design of Robot Manipulator\u201d Proc. of ACC 497\u2013502 (1983).","DOI":"10.23919\/ACC.1983.4788164"},{"volume-title":"Computer Methods for Mathematical Computation","year":"1977","author":"Forsythe","key":"S0263574700015617_ref011"},{"key":"S0263574700015617_ref009","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(88)90075-0"},{"key":"S0263574700015617_ref008","doi-asserted-by":"crossref","unstructured":"8. Veitschegger W.K. and Wu C-H. , \u201cA Method for Calibration and Compensating Robot Kinematic Errors\u201d Proc. IEEE, Int. 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Mooring B.W. and Pack T.J. , \u201cCalibration Procedure for an Industrial Robot\u201d IEEE, International Conference on Robotics and Automation 786\u2013791 (1988).","DOI":"10.1109\/ROBOT.1988.12154"},{"volume-title":"Robot Manipulators: Mathematics, Programming and Control","year":"1982","author":"Paul","key":"S0263574700015617_ref002"},{"key":"S0263574700015617_ref001","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143737"},{"key":"S0263574700015617_ref003","first-page":"331","article-title":"Geometric Control and Calibration Method of an Industrial Robot","author":"Scheffer","year":"1982","journal-title":"12th ISIR"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700015617","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,2,8]],"date-time":"2025-02-08T04:56:15Z","timestamp":1738990575000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700015617\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,1]]},"references-count":14,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1991,1]]}},"alternative-id":["S0263574700015617"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700015617","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[1991,1]]}}}