Forward calibration of closed-loop jointed manipulators

A method for performing forward kinematic calibration of manipulators with one or more closed-loop actuated joints is presented. The technique is an extension of algorithms designed for open-loop jointed manipulators and is equivalent to minimizing a constrained objective function. The constraints arise from the closed-loop mechanisms in the manipulator. The objective function is taken as the integral of end effector position and orientation error and is optimized using the method of Lagrange multipliers.