Kinematic Accuracy and Self-Calibration of an Object Integrative Handling System - Tim Detert Kartoniert (TB)

The cooperative manipulation of objects with industrial robots often results in inadequate object positioning due to inaccurate grasp points. Today's control and calibration approaches do not target the identification of these uncertain grasp points. In this thesis a kinematic calibration procedure and a self-calibration procedure for the object integrative handling were developed and validated. This extends the capabilities of cooperating robots regarding reconfiguration and calibration.