56.6 Calibration with Compensation Framework
56.6 Calibration with Compensation Framework
System Overview
The objective of the proposed framework, illustrated in Fig. 12, is to replicate in the actual work cell, the desired tool to part motion defined in the virtual environment.
Fig. 12 System overview
Fig. 13 Work cell with work object
Table 5 Consolidated registration results for all 44 poses
Table 6 Error between compensated {K7} and actual {K7} in {K0} with payload of 10 kg
Table 7 Results from calibration simulation (no localization) for payload of 10 kg
Table 8 Error between compensated {K7} and actual {K7} in {K0} after calibration with payload of 10 kg