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A calibration index is in troduced, based on the mobility equation, that considers sensed and unsensed joints and single and multiple loops and ex presses the surplus of measurements over degrees of freedom at each pose. Past work using open-loop calibration, closed-loop calibration, and screw axis measurement is classified according to this calibration index. Numerical issues are surveyed, in cluding task variable scaling, parameter variable scaling, rank determination, pose selection, and input noise handling.<\/jats:p>","DOI":"10.1177\/027836499601500604","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"573-591","source":"Crossref","is-referenced-by-count":228,"title":["The Calibration Index and Taxonomy for Robot Kinematic Calibration Methods"],"prefix":"10.1177","volume":"15","author":[{"given":"John M.","family":"Hollerbach","sequence":"first","affiliation":[{"name":"Departments of Mechanical Engineering and Biomedical Engineering McGill University Montreal, Quebec, Canada H3A 2B4"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Charles W.","family":"Wampler","sequence":"additional","affiliation":[{"name":"Mathematics Department General Motors Research and Development Warren, Michigan 48090"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[1996,12,1]]},"reference":[{"key":"atypb1","volume-title":"Model-Based Control of a Robot Manipulator","author":"An, C.H.","year":"1988"},{"key":"atypb2","volume-title":"Proc. 27th IEEE Conf. 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