DocumentCode
3231925
Title
Identifiable parameters for parallel robots kinematic calibration
Author
Besnard, S. ; Khalil, W.
Author_Institution
Inst. de Recherche en Commun. et Cybernetique, CNRS, Nantes, France
Volume
3
fYear
2001
fDate
2001
Firstpage
2859
Abstract
Presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-of-freedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical relations between the parameters which are identified and those which are not identifiable can be obtained for each method.
Keywords
calibration; geometry; matrix algebra; parameter estimation; robot kinematics; QR decomposition; Stewart-Gough 6 degrees-of-freedom parallel robots; classical calibration method; identifiable parameters; kinematic calibration; observation matrix; self calibration method; Calibration; Jacobian matrices; Kinematics; Leg; Legged locomotion; Matrix decomposition; Mechanical sensors; Parallel robots; Position measurement; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933055
Filename
933055
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