Calibration of mobile manipulators using 2D positional features

Maximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach

In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They ...

Using Manipulability with Nonholonomi Mobile Manipulators

Calibration of Serial Manipulators: Theory and Applications

The kinematic calibration is a procedure to improve the manipulator accuracy without mechanical means by acting on the manipulator controller. Although manipulators are composed by accurate mechanical components, the precision of their motion is affected by many sources of error (Mooring et al, 1991). The final position accuracy is mainly influenced by: kinematic inaccuracy (due to manufacturin...

Self-Calibration of Camera-Equipped Robot Manipulators

A new approach to self-calibrate a camera-equipped robot manipulator is proposed in this paper. Self-calibration here means that the camera-robot system is capable of determining its geometric parameters without any external measurements and/or ground truth calibration data. With the proposed approach, one is able to identify all the rotational parameters and, up to a scale factor, all the tran...