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Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators

Abstract : The paper is devoted to the accuracy improvement in geometric calibration of serial manipulators. Particular attention is paid to the optimal selection of measurement poses, which reduce measurement noise impact on the parameters identification precision. In contrast to previous works, the proposed approach yields simple geometrical patterns that allow user to take into account the joint and workspace constraints and to find measurement configurations without tedious computations. The advantages and practical significance of the proposed approach are illustrated by an example that deals with 6-dof serial manipulator.
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https://hal.inria.fr/hal-01004166
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Sunday, March 17, 2019 - 10:27:42 PM
Last modification on : Thursday, December 1, 2022 - 11:14:09 AM
Long-term archiving on: : Tuesday, June 18, 2019 - 12:46:18 PM

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Alexandr Klimchik, David Daney, Stéphane Caro, Anatol Pashkevich. Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators. Lenarčič, Jadran and Khatib, Oussama. Advances in Robot Kinematics, Springer International Publishing, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_28⟩. ⟨hal-01004166⟩

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