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Closed-loop kinematic calibration of the RSI 6-DOF hand controller (1995)
| Venue: | IEEE Trans. Robotics and Automation |
| Citations: | 11 - 4 self |
BibTeX
@ARTICLE{Hollerbach95closed-loopkinematic,
author = {John M. Hollerbach and Senior Member and David M. Lokhorst},
title = {Closed-loop kinematic calibration of the RSI 6-DOF hand controller},
journal = {IEEE Trans. Robotics and Automation},
year = {1995},
volume = {11},
pages = {352--359}
}
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Abstract
Abstract- A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets and the joint angle gains. Experimental results are presented and compared to results using a special calibration fixture. I.
Keyphrases
rsi 6-dof hand controller closed-loop kinematic calibration joint angle offset single closed-loop method special calibration fixture kinematic parameter joint angle gain two-loop parallel mechanism double closed-loop kinematic calibration method experimental result autonomous kinematic calibration 6-dof arm
