{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T12:49:51Z","timestamp":1770814191476,"version":"3.50.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[1997,11,1]],"date-time":"1997-11-01T00:00:00Z","timestamp":878342400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1997,11]]},"abstract":"<jats:p>For off-line programming to work, systematic methods must be developed \nto account for non-ideal performance of the parts and devices in the \nmanufacturing cell. Although much of the literature focuses on robot inaccuracy, \nthis paper considers practical methods for the tool control frame (TCF) \ncalibration and rigid-body compensation required to close the inverse kinematics \nloop for target driven tasks.<\/jats:p><jats:p>In contrast to contemporary estimation methods, \na closed-form, easily automated, solution is introduced for calibrating the \nposition and orientation (pose) of orthogonal end-effectors when the distal robot \njoint is revolute. This paper also considers methods for measuring and \ncompensating the small rigid-body perturbations that result from non-repeatable \npart delivery systems or from geometric distortion. These methods are designed \nto eliminate <jats:italic>r<\/jats:italic>\u03b8 error from the rigid-body prediction and can be conducted in \nreal-time. Without accurate TCF calibration and rigid-body compensation, even the \nmost accurate robot will fail to complete an off-line programmed task if the task \ntolerances are stringent.<\/jats:p>","DOI":"10.1017\/s0263574797000763","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"633-644","source":"Crossref","is-referenced-by-count":8,"title":["Robotic TCF and rigid-body calibration methods"],"prefix":"10.1017","volume":"15","author":[{"given":"Xuguang","family":"Wang","sequence":"first","affiliation":[]},{"given":"Edward","family":"Red","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1997,11,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000763","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T19:59:51Z","timestamp":1557604791000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000763\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,11]]},"references-count":0,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1997,11]]}},"alternative-id":["S0263574797000763"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000763","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,11]]}}}