Abstract
In order to compensate for end-effector positioning error caused by errors in the manipulator initial posture and/or manufacturing/assembly precision of the robot parts, a stereo vision system is employed to make the self-calibration of the humanitarian demining robot Gryphon. The robot kinematic model parameters are automatically self-calibrated with a sequence of rotation of each robot link, where the robot manipulator's tip and an external arbitrary fixed reference point measured by stereo vision camera. The least square algorithm is applied to fit the plane the points (measured by stereo vision camera) locate and the circle center and radius of these points.
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