Abstract
The role of input noise is seldom considered in robot calibration. The methodology of total least squares may be applied to handle both input and output noise in robot calibration. Experimentally, we apply this method towards joint torque sensor calibration, and towards kinematic calibration of a redundant parallel-drive spherical joint in a variant called the implicit loop method.
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© 1997 Springer-Verlag London Limited
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Hollerbach, J., Nahvi, A. (1997). Total least squares in robot calibration. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035218
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DOI: https://doi.org/10.1007/BFb0035218
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Publisher Name: Springer, Berlin, Heidelberg
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Online ISBN: 978-3-540-40942-7
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