Calibrating a multi-manipulator robotic system |
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Authors: | Bonitz RG Hsia TC |
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Affiliation: | Dept. of Electr. Eng., Nebraska Univ., Lincoln, NE ; |
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Abstract: | A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process |
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