Accepted for publication in IEEE IROS 2021-International Conference on Intelligent Systems and Robots
Available in Git-Hub.
Description:
In this work we present Kalibrot, a simple-to-use Matlab package for robot kinematic calibration.
Currently, it only focuses on serial-link manipulators to optimize the Denavit-Hartenberg parameters.
It allows the user to choose between two solvers:
- Traditional pseudoinverse;
- Quadratic Programming to include bounds on the variables
The package provides the user with the calibrated parameters, the calibrated kinematic model, the identification matrix
Francesco Cursi 