The major approaches toward kinematic calibration are unified by considering an end-point measurement system as forming a joint and closing the kinematic loop. 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.
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