Calibration of the Aronson 6-DOF robotic platform

A discussion is presented of the calibration of the Aronson six-degree-of-freedom platform. Absolute encoders are used to determine the starting positions of all six joints. The hardware implemented are described in detail. Software programs are used to calibrate the hardware and to build the look-up tables that are needed in determining the initial joint positions. The descriptions of all software routines used are given.