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Kalibrot: a simple-to-use Matlab package for robot kinematic calibration

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Title: Kalibrot: a simple-to-use Matlab package for robot kinematic calibration
Authors: Cursi, F
Bai, W
Kormushev, P
Item 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.
Issue Date: Sep-2021
Date of Acceptance: 1-Jul-2021
URI: http://hdl.handle.net/10044/1/90146
Journal / Book Title: International Conference on Intelligent Robots and Systems (IROS) 2021
Copyright Statement: This paper is embargoed until publication.
Conference Name: International Conference on Intelligent Robots and Systems (IROS) 2021
Place of Publication: Prague, Czech Republic
Publication Status: Accepted
Start Date: 2021-09-27
Finish Date: 2021-10-01
Conference Place: Prague, Czech Republic
Embargo Date: publication subject to indefinite embargo
Open Access location: http://kormushev.com/publication/cursi2021kalibrot/
Appears in Collections:Dyson School of Design Engineering