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Interval Methods for Certification of the Kinematic Calibration of Parallel Robots

David Daney 1 Yves Papegay 1 Arnold Neumaier 2
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : In this paper, we demonstrate how methods based on interval arithmetic and interval analysis can be used to achieve numerical certification of the kinematic calibration of a parallel robots. We introduce our work by describing the usual calibration methods and the motivations for a numerical certification. Then, we briefly present the interval methods we used and the kinematic calibration problem. In the main part, we develop our certified approach of this problem in the case of a Gough platform, and we show with numerical examples how this approach avoids wrong solutions produced by classical approach. Details on implementation and performance are also given.
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David Daney, Yves Papegay, Arnold Neumaier. Interval Methods for Certification of the Kinematic Calibration of Parallel Robots. IEEE International Conference on Robotics and Automation (ICRA), Apr 2004, New Orleans, United States. pp.1913-1918, ⟨10.1109/ROBOT.2004.1308103⟩. ⟨hal-00990060⟩



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