• DocumentCode
    3599264
  • 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
  • Volume
    1
  • fYear
    1994
  • Firstpage
    329
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/IROS.1994.407373
  • Filename
    407373
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3599264