Summary: 456 IEEE TRANSACTIONS ON ROBOTICS, VOL. 24, NO. 2, APRIL 2008
the PA10-6CE utilizing the geometric and flexibility calibration method
described here. We anticipate the combination of a detailed physical
model, and its accompanying control design will provide an accurate
measurement and control system suitable for demanding dynamic ap-
plications with the PA10-6CE robot arm.
The authors thank N. Mauntler for help in operating the CMM and
J. D. Yamokoski for much appreciated suggestions on the calibration
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