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Vision-based kinematic calibration of a H4 parallel mechanism

Abstract : In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. With a precision of the order of magnitude of 0.2mm and 0.03 • , our vision system allowed us to obtain a final positioning accuracy of the end-effector lower than 0.5mm. Conclusions are given on the use of a vision-based measuring device for the calibration of this class of mechanisms.
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https://hal.inria.fr/hal-02466410
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Pierre Renaud, Nicolas Andreff, Frédéric Marquet, Philippe Martinet. Vision-based kinematic calibration of a H4 parallel mechanism. IEEE International Conference on Robotics and Automation. IEEE ICRA 2003, Sep 2003, Taipei, Taiwan. pp.1191-1196, ⟨10.1109/ROBOT.2003.1241754⟩. ⟨hal-02466410⟩

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