Kalibrot: a simple-to-use Matlab package for robot kinematic calibration
File(s)
Accepted version
Author(s)
Cursi, Francesco
Bai, Weibang
Kormushev, Petar
Type
Conference Paper
Abstract
Robot modelling is an essential part to properly
understand how a robotic system moves and how to control
it. The kinematic model of a robot is usually obtained by
using Denavit-Hartenberg convention, which relies on a set of
parameters to describe the end-effector pose in a Cartesian
space. These parameters are assigned based on geometrical
considerations of the robotic structure, however, the assigned
values may be inaccurate. The purpose of robot kinematic
calibration is therefore to find optimal parameters which
improve the accuracy of the robot model. In this work we
present Kalibrot, an open source Matlab package for robot
kinematic calibration. Kalibrot has been designed to simplify
robot calibration and easily assess the calibration results. Beside
computing the optimal parameters, Kalibrot provides a visualization layer showing the values of the calibrated parameters,
what parameters can be identified, and the calibrated robotic
structure. The capabilities of the package are here shown
through simulated and real world experiments.
understand how a robotic system moves and how to control
it. The kinematic model of a robot is usually obtained by
using Denavit-Hartenberg convention, which relies on a set of
parameters to describe the end-effector pose in a Cartesian
space. These parameters are assigned based on geometrical
considerations of the robotic structure, however, the assigned
values may be inaccurate. The purpose of robot kinematic
calibration is therefore to find optimal parameters which
improve the accuracy of the robot model. In this work we
present Kalibrot, an open source Matlab package for robot
kinematic calibration. Kalibrot has been designed to simplify
robot calibration and easily assess the calibration results. Beside
computing the optimal parameters, Kalibrot provides a visualization layer showing the values of the calibrated parameters,
what parameters can be identified, and the calibrated robotic
structure. The capabilities of the package are here shown
through simulated and real world experiments.
Date Issued
2021-12-16
Date Acceptance
2021-07-01
Citation
International Conference on Intelligent Robots and Systems (IROS) 2021, 2021, pp.8852-8859
Start Page
8852
End Page
8859
Journal / Book Title
International Conference on Intelligent Robots and Systems (IROS) 2021
Copyright Statement
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Identifier
http://kormushev.com/papers/Cursi_IROS-2021_Kalibrot.pdf
Source
International Conference on Intelligent Robots and Systems (IROS) 2021
Place of Publication
Prague, Czech Republic
Publication Status
Published
Start Date
2021-09-27
Finish Date
2021-10-01
Coverage Spatial
Prague, Czech Republic
Date Publish Online
2021-12-16