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Identification géométrique de mécanismes parallèles par vision

Abstract : In this article we present the use of a vision-based measuring device for the kinematic calibration of parallel mechanisms. Vision enables one to perform simultaneously position and orientation measurements of the mechanism end-effector. A vision-based measuring device therefore allows one to use the inverse kinematic model method, particularly efficient in simulation. In this article the parameter identifiability conditions are analyzed. The kinematic calibration of a H4 parallel mechanism is then presented, with parameter identifiability study. Experimental results are finally presented with an influence analysis of the identification model.
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https://hal.inria.fr/hal-02466519
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 2:57:10 PM
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  • HAL Id : hal-02466519, version 1

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P Renaud, Nicolas Andreff, P. Martinet, Grigoré Gogu, M. Dhome. Identification géométrique de mécanismes parallèles par vision. RFIA conference, RFIA'04, Jan 2004, Toulouse, France. ⟨hal-02466519⟩

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