IEEE - Institute of Electrical and Electronics Engineers, Inc. - An Integrated Two-Level Self-Calibration Method for a Cable-Driven Humanoid Arm

Author(s): Quanzhu Chen ; Weihai Chen ; Guilin Yang ; Rong Liu
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 April 2013
Volume: 10
Page Count: 12
Page(s): 380 - 391
ISSN (Paper): 1545-5955
ISSN (Online): 1558-3783
DOI: 10.1109/TASE.2013.2242199
Regular:

This paper addresses the kinematic calibration issues for a 7-DOF cable-driven humanoid arm in order to improve its motion control accuracy. The proposed 7-DOF humanoid arm has a hybrid... View More

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