DocumentCode
1538557
Title
Calibrating a multi-manipulator robotic system
Author
Bonitz, Robert G. ; Hsia, T.C.
Author_Institution
Dept. of Electr. Eng., Nebraska Univ., Lincoln, NE, USA
Volume
4
Issue
1
fYear
1997
fDate
3/1/1997 12:00:00 AM
Firstpage
18
Lastpage
22
Abstract
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process
Keywords
calibration; cooperative systems; manipulator kinematics; calibrated kinematic model; coordinated dual-arm manipulation experiments; multimanipulator robotic system; pose error; precisely machined calibration plates; Acoustic measurements; Calibration; Coordinate measuring machines; End effectors; Force control; Manipulators; Position measurement; Robot kinematics; Robotics and automation; Testing;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/100.580975
Filename
580975
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