Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller
نویسندگان
چکیده
A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets and the joint angle gains. Experimental results are presented and compared to results using a special calibration fixture.
منابع مشابه
An implicit loop method for kinematic calibration and its application to closed-chain mechanisms - Robotics and Automation, IEEE Transactions on
A unified formulation for the calibration of both serial-link robots and robotic mechanisms having kinematic closed-loops is presented and applied experimentally to two 6-degree-of-freedom devices: the RSI 6-DOF Hand Controller and the MEL ‘Modified Stewart Platform.” The unification is based on an equivalence between end-effector measurements and constraints imposed by the closure of kinematic...
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