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Conference papers

Self Calibration of Gough Platform using leg mobility constraints

David Daney 1
1 SAGA - Algebraic Systems, Geometry and Applications
CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : A new algorithm for the calibration of a gough platform is presented. It enables auto-calibration as it only uses internal measurements : the leg lengths In order to obtain the necessary information to do so, without adding additional sensors. we introduce some constraints on two legs of the robot. First, the method is described. Second, it is validated by simulation.
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Conference papers
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Submitted on : Tuesday, November 19, 2013 - 7:06:23 PM
Last modification on : Thursday, January 20, 2022 - 5:31:43 PM
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  • HAL Id : hal-00906476, version 1



David Daney. Self Calibration of Gough Platform using leg mobility constraints. 10th world congress of International Federation for the Theory of Machines and Mechanisms (IFToMM), Jun 1999, Oulu, Finland. pp.104-109. ⟨hal-00906476⟩



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