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As such, the required equipment is low cost (approximately $2000 USD), robust, and is quick to set up, especially when compared to traditional calibration devices. As demonstrated through an experimental study and validated with a laser tracker, the absolute accuracy of the KUKA LBR iiwa robot was improved to a maximum error of 0.990 mm, representing a 58.4% improvement when compared to the nominal model. Further testing showed that a traditional calibration using a laser tracker only improved the maximum error by 58 \u00b5m over the impedance control approach.<\/jats:p>","DOI":"10.3390\/robotics8020033","type":"journal-article","created":{"date-parts":[[2019,4,24]],"date-time":"2019-04-24T03:14:28Z","timestamp":1556075668000},"page":"33","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Impedance Control Self-Calibration of a Collaborative Robot Using Kinematic Coupling"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1220-0889","authenticated-orcid":false,"given":"Nicholas A.","family":"Nadeau","sequence":"first","affiliation":[{"name":"Department of Automated Manufacturing Engineering, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9663-2496","authenticated-orcid":false,"given":"Ilian A.","family":"Bonev","sequence":"additional","affiliation":[{"name":"Department of Automated Manufacturing Engineering, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ahmed","family":"Joubair","sequence":"additional","affiliation":[{"name":"Department of Automated Manufacturing Engineering, \u00c9cole de Technologie Sup\u00e9rieure, Montr\u00e9al, QC H3C 1K3, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,4,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"236","DOI":"10.1016\/j.rcim.2012.06.004","article-title":"Absolute calibration of an ABB IRB 1600 robot using a laser tracker","volume":"29","author":"Nubiola","year":"2013","journal-title":"Robot. 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