Screw axis measurement for kinematic calibration of the Sarcos Dextrous Arm

  title={Screw axis measurement for kinematic calibration of the Sarcos Dextrous Arm},
  author={John M. Hollerbach and Lydia Giugovaz and Martin Buehler and Yangming Xu},
A recently developed kinematic calibration technique for 6 degree-of-freedom (DOF) arms, the Jacobian measurement method, is generalized to include underconstrained and overconstrained arms. Using joint torque sensing and a wrist 6-axis force/torque sensor to measure the Jacobian, experimental results are presented for the rst 5 DOFs of the Sarcos Dextrous Arm. Results are compared to two standard calibration methods | open loop calibration and circle point analysis. Measurements of endpoint… CONTINUE READING

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