Kinematic calibration by direct estimation of the Jacobian matrix

A method for kinematic calibration is presented, which directly estimates the Jacobian matrix from measurements and extracts the kinematic parameters from the Jacobian exactly and without iteration. Two different experimental approaches are presented for measuring the Jacobian. In the first approach, a six degree-of-freedom manipulator is rigidly attached to the environmental at its endpoint, in one pose only. Joint torques are systematically exerted and the resulting endpoint forces and torques are measured. In the second approach, a manipulator attains different motions through the same endpoint location, and the joint velocities are related to measured endpoint linear and angular velocities. Simulations are presented to verify the method