A New Method to Identify the Structure Parameters of the Links in Robot

The final trajectory of end-effector is determined by cooperative movement of many components in robot, so that the posture of end-effector is certainly effected by the errors of structure parameters. It is very important that how to identify the structure parameters. A method to identify the structure parameters in robot is presented using calibration ball and relevant algorithms.The validity of this method is verified by the experiments performed on FMM10-680 developed by the Xi'an University of Technology.