Title :
Closed-loop kinematic calibration of the Sarcos Dextrous Arm
Author :
Giugovaz, Lydia ; Hollerbach, John M.
Author_Institution :
Biorobotics Lab., McGill Univ., Montreal, Que., Canada
Abstract :
Closed-loop kinematic calibration has been experimentally implemented on the Sarcos Dextrous Arm. The elbow joint is made mobile by adding an unsensed hinge joint at the endpoint attachment to ground. The calibrated parameters include the joint angle offsets and the hinge-related parameters
Keywords :
calibration; closed loop systems; manipulator kinematics; Sarcos Dextrous Arm; closed-loop kinematic calibration; hinge-related parameters; joint angle offsets; mobile elbow joint; unsensed hinge joint; Anthropomorphism; Calibration; Elbow; End effectors; Equations; Fasteners; Fingers; Force control; Kinematics; Manufacturing;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407373
