Vision-Aided Online Kinematic Calibration of a Planar 3RRR Manipulator

摘要

In this paper, we propose an automatic approach for the online kinematic calibration of a planar 3RRR manipulator. This method utilizes a camera as the global sensor to measure pose of the end effector. After the visual measuring system obtains enough pose data, an algorithm based on the implicit model is performed for the kinematic calibration. Finally, the calibration result is sent to the controller to compensate the geometric model of the manipulator. All these mentioned steps are implemented automatically without human intervene. Experiment studies on a real system have shown the effectiveness and the convenience of the present method.