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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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https://hal.inria.fr/hal-00906471
Contributor : David Daney <>
Submitted on : Tuesday, November 19, 2013 - 6:51:44 PM
Last modification on : Saturday, January 27, 2018 - 1:30:49 AM
Long-term archiving on: : Thursday, February 20, 2014 - 9:41:21 AM

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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. ⟨hal-00906471⟩

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