Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand with Soft Fingers

IEEE ACCESS. PREPRINT VERSION. ACCEPTED Dec, 2017 Simultaneous Robot-World, Sensor-Tip, and Kinematics Calibration of an Underactuated Robotic Hand with Soft Fingers Ning Tan, Xiaoyi Gu, and Hongliang Ren Senior Member, IEEE Abstract—Soft robotics is a research field growing rapidly with primary focuses on the prototype design, development of soft robots and their applications. Due to their highly deformable features, it … Continue reading

Simultaneous Hand-Eye, Tool-Flange and Robot-Robot Calibration for Co-manipulators by Solving AXB=YCZ Problem

Abstract Multi-robot co-manipulation shows great potential to address the limitations of using single robot in complicated tasks such as robotic surgeries. However, the dynamic setup poses great uncertainties in the circumstances of robotic mobility and unstructured environment. Therefore, the relationships among all the base frames (robot-robot calibration) and the relationships between the end-effectors and the other devices such as cameras (hand-eye calibration) … Continue reading