FIIR-TCM - 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

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