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Exploiting redundancy for autonomous calibration of a planar robot

  • Chapter 4 Control
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Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

Autonomous calibration techniques are applied to the calibration of two sensors of a planar robot: a platen sensor and a coordination sensor. The redundant angle measurements of the platen sensor are used to identify its parameters, improving its output accuracy by better than a factor of two. Redundant position measurements using both sensors are also used in an attempt to further improve the platen sensor accuracy and identify the relative position of the two sensors.

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References

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Authors and Affiliations

  1. Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Arthur E. Quaid & Alfred A. Rizzi

Authors
  1. Arthur E. Quaid
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  2. Alfred A. Rizzi
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Correspondence to Arthur E. Quaid or Alfred A. Rizzi .

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© 2000 Springer-Verlag London Limited

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Quaid, A.E., Rizzi, A.A. (2000). Exploiting redundancy for autonomous calibration of a planar robot. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119394

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  • DOI: https://doi.org/10.1007/BFb0119394

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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