Screw axis measurement for kinematic calibration of the Sarcos Dextrous Arm
نویسندگان
چکیده
A recently developed kinematic calibration technique for 6 degree-of-freedom (DOF) arms, the Jacobian measurement method, is generalized to include underconstrained and overconstrained arms. Using joint torque sensing and a wrist 6-axis force/torque sensor to measure the Jacobian, experimental results are presented for the rst 5 DOFs of the Sarcos Dextrous Arm. Results are compared to two standard calibration methods | open loop calibration and circle point analysis. Measurements of endpoint position and orientation were obtained with the Optotrak and the Bird sensor, two commercial motion tracking systems.
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Closed-loop kinematic calibration of the Sarcos Dextrous Arm
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