Completing the forward kinematic calibration of open loop manipulators when single point position sensors are used

Single-point sensors can measure the position of one point fixed to a manipulator's end effector. When single-point sensors have been used for calibration, it has not been possible to calibrate the orientation of the tool. Furthermore, it can be difficult to calibrate the sensor system. Results in the literature seldom provide a complete kinematic calibration of the manipulator. Presented here is a technique that enables single-point sensors to gather sufficient information to complete kinematic calibration. In addition, the method can reduce the burden of calibrating the sensor system.