Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller

A method is presented for autonomous kinematic calibrationof the RSI 6-DOFhand controller,a two-loopparallel 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. Experimentalresults are presentedand comparedto resultsusing a special calibration fixture.

• Type: Conference
• Year: 1993
• Where: ICRA
• Authors: John M. Hollerbach, David M. Lokhorst
• Keywords: Autonomous Kinematic Calibrationof, Closed-loop Kinematic Calibration, ICRA 1993, Kinematic, Robotics