2020
DOI: 10.48550/arxiv.2012.07548
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Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Karla Stepanova,
Jakub Rozlivek,
Frantisek Puciow
et al.

Abstract: We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the manipulators, calibration of the complete kinematic chain (DH parameters), and we compare our results with ground truth measurements provided by a laser tracker. Our main findings are: (1) When applying the complementary calibration approaches in isolation, the self-contact appro… Show more

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