Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators

We propose a method to calibrate the orientation error between the leader coordinate system and each of the follower for the leader-follower type decentralized coordinated motion control system of multiple robots using motion estimators. This method uses the relation between the velocity vector of the manipulated object in the leader coordinate system and the velocity vector in each of the follower coordinate system. The orientation error is estimated recursively by using the extended Kalman filter. Experimental results illustrate the effectiveness of the proposed method.