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The International Journal of Robotics Research
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Forward Calibration of Closed-Loop Jointed Manipulators

Louis J. Everett

Department of Mechanical Engineering Texas A&M University College Station, Texas

A method for performing forward kinematic calibration of manipulators with one or more closed-loop actuated joints is presented. The technique is an extension of algorithms de signed for open-loop jointed manipulators and is equivalent to minimizing a constrained objective function. The con straints arise from the closed-loop mechanisms in the manip ulator. The objective function is taken as the integral of end effector position and orientation error and is optimized using the method of Lagrange multipliers.

The International Journal of Robotics Research, Vol. 8, No. 4, 85-91 (1989)
DOI: 10.1177/027836498900800405
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