A low-cost approach for self-calibration of climbing robots

@article{Tavakoli2011ALA,
  title={A low-cost approach for self-calibration of climbing robots},
  author={Mahmoud Tavakoli and Lino Marques and Anibal T. de Almeida},
  journal={Robotica},
  year={2011},
  volume={29},
  pages={23 - 34}
}
SUMMARY High accuracy is usually difficult to obtain with a robotic arm installed on a mobile base, since the errors of the base are transferred to the manipulator. This paper proposes a method to address this problem through integration of a self-calibration algorithm and low-cost sensors. The self-calibration algorithm might be repeated several times during execution of a mission by the robot and is only based on the internal sensors of the robot, meaning that external observers or reference… 
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