Mancheong Lei

Robotic Kinematic Calibration with Only Position Data and Consideration of Non-Geometric Errors Using POE-Based Model and Gaussian Mixture Models

Kinematic calibration is crucial to improve the positioning accuracy of serial robots. This paper proposes a novel algorithm for robotic kinematic calibration based on an augmented product of exponentials (POE)-based kinematic model using Gaussian mixture models (GMMs) with only position data. In th…