1. Introduction. - 1. 1. Overview. - 1. 2. Motivation. - 1. 3. Dissertation Goals and Contributions. - 1. 4. Dissertation Outline. - 2. Review of Robot Kinematics Identification and Control. - 2. 1. Overview. - 2. 2. Coordinate Frame Kinematic Models. - 2. 3. Models of Revolute Joint Manipulators. - 2. 4. Modeling Assumptions. - 2. 5. Kinematic Identification. - 2. 6. Kinematic Control. - 2. 7. Conclusions. - 3. Formulation of the S-Model. - 3. 1. Overview. - 3. 2. S-Model. - 3. 3. Computing S-Model Parameters. - 3. 4. Conclusions. - 4. Kinematic Identification. - 4. 1. Overview. - 4. 2. Kinematic Features. - 4. 3 S-Model Identification. - 4. 4. Conclusions. - 5. Inverse Kinematics. - 5. 1. Overview. - 5. 2. Newton-Raphson Algorithm. - 5. 3. Jacobi Iterative Method. - 5. 4. Performance Evaluation. - 5. 5. Comparative Computational Complexity. - 5. 6. Conclusions. - 6. Prototype System and Performance Evaluation. - 6. 1. Overview. - 6. 2. System Overview. - 6. 3. Sensor System. - 6. 4. Generating Features. - 6. 5. Measuring Performance. - 6. 6. Kinematic Performance Evaluation. - 6. 7. Conclusions. - 7. Performance Evaluation Based Upon Simulation. - 7. 1. Overview. - 7. 2. A Monte-Carlo Simulator. - 7. 3. Simulator Verification. - 7. 4. Results. - 7. 5. Conclusions. - 8. Summary and Conclusions. - 8. 1. Introduction. - 8. 2. Summary and Contributions. - 8. 3. Suggestions for Future Research. - Appendix A. Primitive Transformations. - Appendix B. Ideal Kinematics of the Puma 560. - B. 1. Forward Kinematics. - B. 2. Inverse Kinematics. - Appendix C. Inverse Kinematics. - C. 1. Newton-Raphson Computations. - C. 2. Jacobi Iterative Computations. - Appendix D. Identified Arm Signtaures. - Appendix E. Sensor Calibration. - E. 1. Calibration Rods. - E. 2. Slant Range Compensation. - Appendix F. Simulator Components. - F. 1. Robot Manufacturing Error Model. - F. 2. Simulator Input Parameters. - Appendix G. Simulation Results. - G. 1. Encoder Calibration Errors. - G. 2. Machining and Assembly Errors. - G. 3. Sensor Measurement Errors. - G. 4. Number of Measurements. - G. 5. Target Radius. - References. Language: English