TY - GEN
T1 - Elasto-Kinematic Calibration of the Lunar Rover Mini 6 DOF Robotic Arm
AU - Conenna, Marco
AU - Guo, Jian
AU - Wedler, Armin
N1 - Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
PY - 2025
Y1 - 2025
N2 - Inaccuracies in robotic arms can significantly hinder their performance in tasks where precision is critical. This paper focuses on the kinematic calibration and elasticity compensation of the six degrees of freedom robotic arm integrated into the Lunar Rover Mini, developed in collaboration with the Robotics and Mechatronics Institute of the German Aerospace Center (DLR), Wessling. The arm, constructed using 3D-printed components and driven by affordable RC servo motors, experiences notable inaccuracies in end-effector positioning due to joint flexibility and structural deformation, especially under load. A model-based calibration technique is proposed to compensate for elastic deformations and geometric misalignments, addressing the absence of feedback sensors. This cost-effective approach, which requires only 3D measurements of the end-effector’s position, has resulted in an approximately 80% reduction in the robotic arm’s average position error.
AB - Inaccuracies in robotic arms can significantly hinder their performance in tasks where precision is critical. This paper focuses on the kinematic calibration and elasticity compensation of the six degrees of freedom robotic arm integrated into the Lunar Rover Mini, developed in collaboration with the Robotics and Mechatronics Institute of the German Aerospace Center (DLR), Wessling. The arm, constructed using 3D-printed components and driven by affordable RC servo motors, experiences notable inaccuracies in end-effector positioning due to joint flexibility and structural deformation, especially under load. A model-based calibration technique is proposed to compensate for elastic deformations and geometric misalignments, addressing the absence of feedback sensors. This cost-effective approach, which requires only 3D measurements of the end-effector’s position, has resulted in an approximately 80% reduction in the robotic arm’s average position error.
KW - 3D-Printed
KW - Cost-Effective Robotics
KW - Elastic Calibration
KW - End-Effector Accuracy
KW - Precise Manipulation
KW - Robotic Arm
UR - https://www.scopus.com/pages/publications/105006475063
U2 - 10.1007/978-3-031-89471-8_25
DO - 10.1007/978-3-031-89471-8_25
M3 - Conference contribution
AN - SCOPUS:105006475063
SN - 9783031894701
T3 - Springer Proceedings in Advanced Robotics
SP - 162
EP - 167
BT - European Robotics Forum 2025 - Boosting the Synergies between Robotics and AI for a Stronger Europe
A2 - Huber, Marco
A2 - Verl, Alexander
A2 - Kraus, Werner
PB - Springer Nature
T2 - 16th European Robotics Forum, ERF 2025
Y2 - 25 March 2025 through 27 March 2025
ER -