Closed-loop kinematic calibration of the RSI 6-DOF hand controller

Abstract

A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offsets and the joint angle gains. Experimental results are presented and compared to results using a special calibration fixture.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>