Abstract—In this paper, the calibration of the multi-joint serial link for underwater coordinate measuring machine is conducted. The underwater coordinate measuring machine is an underwater positioning system which consists of underwater robot and multi-joint link. The link connected underwater robot from the water surface. The position of the robot is obtained from kinematics of the multi-joint link. The geometric calibration of the experimental model of the multi-joint link is conducted at the water tank and atmosphere to evaluate its measurement accuracy. The calibration result indicate that the positioning accuracy of the experimental model at the underwater is better than atmosphere and its standard deviation is 0.59 mm is obtained.
Index Terms—Underwater positioning, multi joint serial link, calibration.
Soji Shimono is with the Q.I Incorporated, 4-7, Fukuura 2-chome, kanazawa-ku, Yokohama, Japan. And also with the Tokyo University of Agriculture and Technology, Japan (e-mail: shimono@qi-inc.com).
U. Nishizawa and S. Toyama are with the Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Tokyo, Japan (e-mail: n-uichi@cc.tuat.ac.jp, toyama@cc.tuat.ac.jp).
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Cite: Soji Shimono, Uichi Nishizawa, and Shigeki Toyama, "Calibration of the Underwater Coordinate Measuring MachineUsing Multi-jointLink," International Journal of Modeling and Optimization vol. 8, no. 4, pp. 页, 2018.
