Closed-loop kinematic calibration of the RSI 6-DOF hand controller
- 30 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel 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. Experimental results are presented and compared to results using a special calibration fixture.Keywords
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