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Interval method for calibration of parallel robots: Vision-based experiments

Abstract : This paper is a theoretical and experimental study of how interval arithmetic and analysis methods can be used to achieve (1) numerical certification of the kinematic calibration of parallel robots, and (2) a possible validation of the kinematic model used in calibration. First, a detailed description is given of our experimental device and vision-based measurement method. The usual calibration methods are then reviewed and applied to our experimental data set, yielding a motivation for numerical certification of the results. Next, interval calibration methods (which have already been described in a previous work) are also reviewed and applied to the data. Finally, the experimental results are discussed and interpreted.
keyword : Interval methods
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Contributor : David Daney <>
Submitted on : Thursday, November 21, 2013 - 4:26:00 PM
Last modification on : Tuesday, October 23, 2018 - 3:00:04 PM



David Daney, Nicolas Andreff, Gilles Chabert, Yves Papegay. Interval method for calibration of parallel robots: Vision-based experiments. Mechanism and Machine Theory, Elsevier, 2006, 41 (8), pp.929 - 944. ⟨10.1016/j.mechmachtheory.2006.03.014⟩. ⟨hal-00907729⟩



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