Variable elimination for reliable parallel robot calibration - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2001

Variable elimination for reliable parallel robot calibration

Résumé

We study overconstrained polynomial systems from an algebraic and numerical perspective in order to improve the accuracy and reliability of Gough platform calibration. By elimination theory, we may limit ourselves to measuring only the position information by external sensors, besides internal sensor measurements. Measuring orientation, which is intricate and error-prone, becomes unnecessary. A planar analogue is used to formally develop the technique and analyze observability by means of the Jacobian. Several experiments are used to compare the existing alternatives with partial information to our approach, by numerical simulation. It is shown that our method significantly improves robustness without compromising accuracy, especially when the measured configurations lie at the workspace's boundary.
Fichier non déposé

Dates et versions

inria-00100584 , version 1 (26-09-2006)

Identifiants

  • HAL Id : inria-00100584 , version 1

Citer

David Daney, Ioannis Z. Emiris. Variable elimination for reliable parallel robot calibration. In 2nd Workshop on Computational Kinematics - CK'2001, School of Mechanical and Aerospace Engineering, 2001, Seoul, Korea, 12 p. ⟨inria-00100584⟩
206 Consultations
0 Téléchargements

Partager

Gmail Facebook X LinkedIn More