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
fDate :
3/1/1997 12:00:00 AM
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
