IMU-Based Online Kinematic Calibration of Robot Manipulator

<table>Estimated <svg height="11.175" id="M175" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 13.775 11.175" width="13.775" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg>-<svg height="11.175" id="M176" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 15.0375 11.175" width="15.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.113)"><path d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
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</svg> parameter errors with EKF.</table>

The Scientific World Journal

IMU-Based Online Kinematic Calibration of Robot Manipulator

Figure 7