Title :
Calibration of parallel robots using two inclinometers
Author :
Besnard, S. ; Khalil, W.
Author_Institution :
Ecole Centrale de Nantes, France
Abstract :
Presents a method for the kinematic calibration of six degrees of freedom parallel robots using two inclinometers. The calibration model takes into account the error on the angle between the inclinometers axes. The estimation of the parameters is carried out using the Levenberg-Marquardt algorithm. The number of configurations needed and the effect of noise on sensors data are studied using simulations
Keywords :
calibration; geometry; optimisation; parameter estimation; robot kinematics; Levenberg-Marquardt algorithm; inclinometers; kinematic calibration; parallel robots; Bismuth; Calibration; Computational modeling; Gravity; Leg; Parallel robots; Parameter estimation; Position measurement; Robot kinematics; Robot sensing systems;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770363
