Kinematic calibration of manipulators with closed loop actuated jointsA method for performing forward kinematic calibration of manipulators having one or more closed-loop-actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators. The calibration is equivalent to minimizing an objective function subject to constraints. The objective function is taken as the integral of end-effector position and orientation error. The constraints arise from the closed-loop mechanisms present in the manipulator.
Document ID
19890024622
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Everett, Louis J. (Texas A&M Univ. College Station, TX, United States)
Lin, C. Y. (Texas A & M University College Station, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation