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Questions tagged [calibration]

Correlate the readings of a robot's instrument, sensor, etc. with those of a standard in order to check its accuracy. Adjust experimental results to take external factors into account or to allow comparison with other data.

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9 votes
4 answers

Why do 3-axis accelerometers seemingly have a left-handed coordinate system?

Careful inspection of page 35 (figure 58) of the ADXL345 datasheet shows that under gravitational loading only, the chip uses a left-handed coordinate system. My own experiments with this chip ...
Ben's user avatar
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7 votes
3 answers

Hand Eye Calibration

I'm trying to use a dual quaternion Hand Eye Calibration Algorithm Header and Implementation, and I'm getting values that are way off. I'm using a robot arm and an optical tracker, aka camera, plus a ...
Andrew Hundt's user avatar
10 votes
2 answers

Why do we generally prefer DH parameters over other kinematic representations of robot arms?

I am specifically interested in DH parameters versus other representations in terms of kinematic calibration. The best (clearest) source of information I could find on kinematic calibration is in the ...
Ben's user avatar
  • 5,865
0 votes
1 answer

vision guided robotic arm always required 6d pose of object? [closed]

I have an object like attached in image. It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object. I am ...
user22120's user avatar
8 votes
1 answer

Hand Eye Calibration Solver [closed]

I have a rig for which I have a pretty good estimate of the static transformation between the camera and a joint based off of the CAD. It has some errors though and I was hoping to fix it by doing a ...
Nandan Banerjee's user avatar
5 votes
2 answers

Accelerometer calibration - how to get cross-axis sensitivities

I've already asked a related question (accelerometer bias removal) here on robotics and got a bit better results on corrected accelerometer output. To get even better results I found the calibration ...
c0dehunter's user avatar
3 votes
1 answer

How is gyroscope bias exposed and tracked?

For an accelerometer, the measurement is defined in the following way: $$a_m = R_w^b(a_{w} - g) + b_a + v_a$$ Where $R$ is a rotation matrix, $g$ is gravity, $v_a$ is noise, and $b_a$ is the bias. ...
Martin Deegan's user avatar
3 votes
2 answers

Accelerometer bias removal

I found a good explanation on how to remove accelerometer bias (when on flat table only one axis should show values, the other two should be 0). I've calculated S and B factors (page 3): Record $...
c0dehunter's user avatar
2 votes
1 answer

solving for unknown 2d rotation + translation

This is a continuation of the question I asked here. I thought I'll ask a more concrete question. So far, this is what I have done to transform from a feature point detected by camera sensor in to a ...
goh's user avatar
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1 vote
1 answer

Making a car go straight [duplicate]

I'm trying to work a car that's being controlled by an Arduino. I'm using the following chassis: New 2WD car chassis DC gear motor, wheels easy assembly and expansion and an L298N motor driver. The ...
Avenger's user avatar
  • 111