Mobility constraints on the legs of a parallel robot to improve the kinematic calibration.

David Daney 1
1 SAGA - Algebraic Systems, Geometry and Applications
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Due to errors such as manufacturing or assembly defects, it is well known that the geometry of robotics manipulators do es not exactly match the design goals. A direct drawback lies in a reduced accuracy of the manipulator which turns out to b e a problem since rob to control requires accurate kinematic models. One way to tackle this problem consists in improving the knowledge of the kinematic model using kinematic calibrations. This is the problem we address in the contribution for parallel robot.
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Communication dans un congrès
New machine concepts for handling and manufacturing devices on the basis of parallel structures, Nov 1998, Braunschweig, Germany. pp.187-200, 1998
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Soumis le : mardi 19 novembre 2013 - 18:51:44
Dernière modification le : samedi 27 janvier 2018 - 01:30:49
Document(s) archivé(s) le : jeudi 20 février 2014 - 09:41:21

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  • HAL Id : hal-00906471, version 1

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David Daney. Mobility constraints on the legs of a parallel robot to improve the kinematic calibration.. New machine concepts for handling and manufacturing devices on the basis of parallel structures, Nov 1998, Braunschweig, Germany. pp.187-200, 1998. 〈hal-00906471〉

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