Kinematic calibration using a plane constraint

This work deals with closed-loop calibration methods where the robot endpoint is constrained to lie on a plane. Previously published calibration approaches are shown to have certain weaknesses. A new solution is given using DH and Hayati notations and standard nonlinear least squares optimization. The procedure is extended via the implicit loop method, which takes input noise into account. Pose selection is guided by the noise amplification index. Simulation and experimental results are presented for a PUMA 560 industrial manipulator and are compared to those obtained from an open-loop calibration procedure