Skip to Main content Skip to Navigation
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.
Document type :
Conference papers
Complete list of metadatas

https://hal.inria.fr/hal-00906476
Contributor : David Daney <>
Submitted on : Tuesday, November 19, 2013 - 7:06:23 PM
Last modification on : Saturday, January 27, 2018 - 1:30:44 AM
Long-term archiving on: : Thursday, February 20, 2014 - 9:41:46 AM

File

iftomm.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00906476, version 1

Collections

Citation

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⟩

Share

Metrics

Record views

710

Files downloads

106