In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@inproceedings{Cursi:2021:10.1109/IROS51168.2021.9635859,
author = {Cursi, F and Bai, W and Kormushev, P},
doi = {10.1109/IROS51168.2021.9635859},
pages = {8852--8859},
title = {Kalibrot: a simple-to-use Matlab package for robot kinematic calibration},
url = {http://dx.doi.org/10.1109/IROS51168.2021.9635859},
year = {2021}
}
TY - CPAPER
AB - Robot modelling is an essential part to properlyunderstand how a robotic system moves and how to controlit. The kinematic model of a robot is usually obtained byusing Denavit-Hartenberg convention, which relies on a set ofparameters to describe the end-effector pose in a Cartesianspace. These parameters are assigned based on geometricalconsiderations of the robotic structure, however, the assignedvalues may be inaccurate. The purpose of robot kinematiccalibration is therefore to find optimal parameters whichimprove the accuracy of the robot model. In this work wepresent Kalibrot, an open source Matlab package for robotkinematic calibration. Kalibrot has been designed to simplifyrobot calibration and easily assess the calibration results. Besidecomputing the optimal parameters, Kalibrot provides a visualization layer showing the values of the calibrated parameters,what parameters can be identified, and the calibrated roboticstructure. The capabilities of the package are here shownthrough simulated and real world experiments.
AU - Cursi,F
AU - Bai,W
AU - Kormushev,P
DO - 10.1109/IROS51168.2021.9635859
EP - 8859
PY - 2021///
SP - 8852
TI - Kalibrot: a simple-to-use Matlab package for robot kinematic calibration
UR - http://dx.doi.org/10.1109/IROS51168.2021.9635859
UR - http://kormushev.com/papers/Cursi_IROS-2021_Kalibrot.pdf
UR - http://hdl.handle.net/10044/1/90146
ER -
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