Sarcos灵巧臂的闭环运动学标定

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407373

L. Giugovaz, J. Hollerbach

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引用次数: 13

摘要

对Sarcos灵巧臂进行了闭环运动标定实验。通过在端点连接到地面处添加一个未感知的铰链关节，使肘关节可移动。标定参数包括关节角偏移量和铰链相关参数。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Closed-loop kinematic calibration of the Sarcos Dextrous Arm

Closed-loop kinematic calibration has been experimentally implemented on the Sarcos Dextrous Arm. The elbow joint is made mobile by adding an unsensed hinge joint at the endpoint attachment to ground. The calibrated parameters include the joint angle offsets and the hinge-related parameters.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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