Experimentally registering position sensors

Finding the sensor-to-tool frame is essential when a sensor is mounted on the dexterous end of a robot for application in either feedback control or kinematic calibration. Many researchers have provided closed-form solutions to the sensor-to-tool frame identification for applications in feedback control. The solutions provided in the literature however, apply only to sensors capable of providing complete pose (three positions and three orientations) of the measured object and to robots capable of providing complete pose of its end frame. Many sensors, however, are capable of providing only position, information. In addition, some robots, like telerobots and other velocity-commanded devices, do not provide tool pose information. This paper provides closed-form solutions for three applications: (1) when a position only sensor is mounted on a robot that provides full tool pose information, (2) when a full pose sensor is used on a robot which can neither provide tool pose information, nor move precise amounts, and (3) when a position only sensor is used on a robot without tool pose information