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Calibrating a multi-manipulator robotic system

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2 Author(s)
Bonitz, R.G. ; Dept. of Electr. Eng., Nebraska Univ., Lincoln, NE, USA ; Hsia, T.C.

A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is tested on a dual-arm system which resulted in an order of magnitude reduction in the pose error. Coordinated dual-arm manipulation experiments are conducted using the calibrated kinematic model to validate the usefulness of the calibration process

Published in:

Robotics & Automation Magazine, IEEE  (Volume:4 ,  Issue: 1 )