IMU-Based Online Kinematic Calibration of Robot Manipulator

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="139738.fig.009a" src="https://static.hindawi.com/articles/tswj/volume-2013/139738/figures/139738.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The execution time with 15 pose measurements</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="139738.fig.009b" src="https://static.hindawi.com/articles/tswj/volume-2013/139738/figures/139738.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The mean absolute errors in different number of measurements</td></tr></table></td></tr></table>

<table>The comparison in execution time.</table>

The Scientific World Journal

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Figure 9

Figure 9: IMU-Based Online Kinematic Calibration of Robot Manipulator 