Calibration of parallel robots : on the Elimination of Pose-Dependent Parameters

David Daney 1 Ioannis Z. Emiris 2 Yves Papegay 1 Elias Tsigaridas 3 Jean-Pierre Merlet 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
2 ERGA - Lab of Geometric and Algebraic Algorithms
3 NTUA - National Technical University of Athens [Athens]
Abstract : We motivate and study the use of the forward kinematic model in the calibration scheme of parallel robots. Classical methods uses this model based only on the internal sensors for parameters elimination. One aim of the paper is to demonstrate how, in this well-constrained case, the model has numerous different solutions, how selecting a solution can lead to critical difficulties and possibly erroneous results. We propose two kind of alternatives, one drawing upon the methods of computer algebra to explicit the relation between the set of sensors and the parameters, and another which minimize the residual errors of an over-constrained formulation of the forward kinematics. This propositions are substantiated by experiments with planar robots, which are easy to describe completely and offer a full understanding of the underlying modeling and behavior.
Type de document :
Communication dans un congrès
European Conference on Mechanism Science, (EuCoMeS), Feb 2006, Obergurgl, Austria. 2006
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https://hal.inria.fr/hal-00989995
Contributeur : David Daney <>
Soumis le : lundi 12 mai 2014 - 17:50:47
Dernière modification le : samedi 27 janvier 2018 - 01:30:52

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  • HAL Id : hal-00989995, version 1

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INRIA | ENPC | PARISTECH

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David Daney, Ioannis Z. Emiris, Yves Papegay, Elias Tsigaridas, Jean-Pierre Merlet. Calibration of parallel robots : on the Elimination of Pose-Dependent Parameters. European Conference on Mechanism Science, (EuCoMeS), Feb 2006, Obergurgl, Austria. 2006. 〈hal-00989995〉

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