Kinematic calibration by means of a triaxial accelerometer

摘要

A new method for kinematic calibration of a robot is presented, based on triaxial measurement of acceleration by a sensor fixed to the robot end-point. The kinematic parameters are evaluated by means of a series of simple tests (two for each joint). In these tests each joint, except the one under consideration, is kept fixed. Acceleration and encoder output are then acquired. Simulations and experimental results applied on Sarcos dextrous arm are presented to verify this method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>