Closed-loop kinematic calibration of the Sarcos Dextrous Arm
نویسندگان
چکیده
Closed-loop kinematic calibration has been experimentally implemented on the Sarcos Dextrous Arm. The elbow joint is made mobile by adding an unsensed hinge joint at the endpoint attachment to ground. The calibrated parameters include the joint angle oosets and the hinge-related parameters.
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