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ROTEX - tele-calibration using distance measurements

: Schröer, K.; Lueck, R.; Grethlein, M.

SyRoCo '94. Proceedings
Symposium on Robot Control (SYROCO) <1994, Capri>
Conference Paper
Fraunhofer IPK ()
calibration; distance measurement; modelling; parameter estimation; robot; space robot

The paper presents a method to employ simple distance sensors for the measurements needed for robot calibration. This approach was used successfully during the Robot Technology Experiment -ROTEX- of the second German SpaceLab Mission in 1993, and the improvement of absolute pose accuracy achieved with this technique is shown. It can also be used in industrial applications where only this type of sensor is available.