Display of friction in Virtual Environments
نویسندگان
چکیده
The major approaches towards kinematic calibration are uniied by considering an endpoint measurement system as forming a joint and closing the kinematic loop. The calibration index is introduced, based on the mobility equation, that considers sensed and unsensed joints, single and multiple loops, and that expresses the surplus of measurements over degrees of freedom at each pose. Past work using open-loop calibration, closed-loop calibration, and screw axis measurement is classiied according to this calibration index. Numerical issues are surveyed, including task variable scaling, parameter variable scaling, rank determination, pose selection, and input noise handling.
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