Title :
Closed-loop kinematic calibration of the RSI 6-DOF hand controller
Author :
Hollerbach, John M. ; Lokhorst, David M.
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada
fDate :
6/1/1995 12:00:00 AM
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
Keywords :
calibration; closed loop systems; manipulator kinematics; potentiometers; 6-DOF arms; RSI 6-DOF hand controller; closed-loop kinematic calibration; joint angle gains; joint angle offsets; potentiometers; two-loop parallel mechanism; Arm; Automatic control; Biomedical engineering; Biomedical optical imaging; Calibration; Cameras; Couplings; End effectors; Kinematics; Potentiometers;
Journal_Title :
Robotics and Automation, IEEE Transactions on
