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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933055
