Calibration Applet

This applet takes in the positions in terms of coordinates as well as readings from the joint parameters in order to find the lengths of the links and the linear offsets.

The radio buttons are used to select the (prismatic or revolute) joint configuration of the manipulator. Alpha angles are entered underneath and the fixed theta angles (for the prismatic joints) are entered in the subsequent window upon pressing the "Continue" button.

Click to begin.