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ICRA
1993
IEEE

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

10 years 8 months ago
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.
John M. Hollerbach, David M. Lokhorst
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1993
Where ICRA
Authors John M. Hollerbach, David M. Lokhorst
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