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- W3118021212 abstract "Abstract Most manipulator calibration techniques require expensive and/or complicated pose measuring devices, such as theodolites. This paper investigates a calibration method where the manipulator endpoint is constrained to a single contact point and executes self-motions. From the easily measured joint angle readings, and an identification model, the manipulator is calibrated. Adding a wrist force sensor allows for the calibration of elastic effects due to end-point forces and moments. Optimization of the procedure is discussed. Experimental results are presented, showing the effectiveness of the method." @default.
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- W3118021212 date "2000-09-10" @default.
- W3118021212 modified "2023-09-26" @default.
- W3118021212 title "Manipulator Calibration Using a Single Endpoint Contact Constraint" @default.
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- W3118021212 doi "https://doi.org/10.1115/detc2000/mech-14129" @default.
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