Despite widespread interest in virtual reality, research and development efforts in synthetic
environments (SE)--the field encompassing virtual environments, teleoperation, and hybrids …

The major approaches toward kinematic calibration are unified by considering an end-point
measurement system as forming a joint and closing the kinematic loop. A calibration index is …

This paper presents a low-cost pose measuring device capable of simultaneously
measuring all six coordinates (3 translations and 3 rotations) of a rigid body with respect to a …

Robot calibration for an environment is a tedious task that usually involves extensive, if not
total, human intervention. However, robots have sensing mechanisms, in particular …

This paper focuses on the use of low-cost inertial sensors in industrial manipulators. In
particular, an easy-to-install joint-angle estimation method is proposed. This scheme can …

B2 5/2005 Nasiri et al. B2 12/2005 Kotzin B2 1/2006 Mantyjarvi et a1. B2 1/2006 Saleh et
a1. B2 4/2006 Kamen et al. B2 5/2006 Noguera B1 6/2006 Ragner B2 8/2006 PedIaZZini et …

A crucial task in the procedure of identifying the parameters of a kinematic model of an
articulated arm coordinate measuring machine (AACMM) or robot arm is the process of …

We present a series of experiments which explore the use of consumer-grade
accelerometers as joint position sensors for robotic manipulators. We show that 6-and 7-dof …

This paper presents a novel method for the calibration of a parallel robot, which allows a
more accurate configuration instead of a configuration based on nominal parameters. It is …

We present a coordinate-invariant, differential geometric formulation of the kinematic
calibration problem for a general class of mechanisms. The mechanisms considered may …