Abstract:-This paper focuses on the kinematic calibration of a modular reconfigurable robot. To aim at low complexity and high generality, a new calibration method was proposed. Based on the definition of independent modules and the kinematics, the kinematic errors were divided into two categories, and will be calibrated respectively. The first category is the individual module errors, which represent the machining errors of modules; they will be calibrated directly by measuring tools. The second category is the assemb… Show more
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