DocumentCode
3093524
Title
Closed-form calibration of the Gantry-Tau parallel robot
Author
Andreff, Nicolas ; Dressler, Isolde
Author_Institution
LASMEA-CNRS, Aubiere
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
993
Lastpage
998
Abstract
This paper addresses the kinematic calibration of the Gantry-Tau parallel kinematic manipulator. It offers two closed-form solutions to this problem, which do not need any initial guess, contrarily to most calibration methods that are based on non-linear least square minimization. This makes the proposed methods applicable by non expert users in a context of mechanical modularity of the robot. Experimental results validate the approach.
Keywords
calibration; least squares approximations; manipulator kinematics; minimisation; Gantry-Tau parallel robot; closed-form calibration; closed-form solutions; kinematic calibration; kinematic manipulator; mechanical modularity; nonlinear least square minimization; Actuators; Calibration; Gallium nitride; Kinematics; Leg; Robot sensing systems; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650904
Filename
4650904
Link To Document