Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
NIMS-PL: a cable-driven robot with self-calibration capabilities
IEEE Transactions on Robotics
Self calibration of step-by-step based climbing robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robotics and Autonomous Systems
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High accuracy is usually difficult to obtain with a robotic arm installed on a mobile base, since the errors of the base are transferred to the manipulator. This paper proposes a method to address this problem through integration of a self-calibration algorithm and low-cost sensors. The self-calibration algorithm might be repeated several times during execution of a mission by the robot and is only based on the internal sensors of the robot, meaning that external observers or reference point transceivers (e.g., ultrasonic transceivers) are not used. The proposed self-calibration system was implemented on a pole climbing robot and effectively improved the positioning accuracy of the climbing arm.