Exploiting Redundancy for Autonomous Calibration of a Planar Robot
نویسندگان
چکیده
Autonomous calibration techniques are applied to the calibration of two sensors of a planar robot: a platen sensor and a coordination sensor. The redundant angle measurements of the platen sensor are used to identify its parameters, improving its output accuracy by better than a factor of two. Redundant position measurements using both sensors are also used in an attempt to further improve the platen sensor accuracy and identify the relative position of the two sensors.
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