Title :
Closed-loop kinematic calibration of the RSI 6-DOF hand controller
Author :
Hollerbach, John M. ; Lokhorst, David M.
Author_Institution :
Biorobotics Lab., McGill Univ., Montreal, Que., Canada
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-degrees-of-freedom (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
Keywords :
calibration; closed loop systems; control equipment; kinematics; RSI 6-DOF hand controller; closed-loop kinematic calibration; joint angle; potentiometers; two-loop parallel mechanism; Arm; Automatic control; Calibration; Elbow; Equations; Fixtures; Kinematics; Potentiometers; Shoulder; Wrist;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292138
