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Closed-loop kinematic calibration of the RSI 6-DOF hand controller

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2 Author(s)
Hollerbach, J.M. ; Dept. of Mech. Eng., McGill Univ., Montreal, Que., Canada ; Lokhorst, D.M.

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

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Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 3 )