Title :
Optimal pose selection for vision-based kinematic calibration of parallel mechanisms
Author :
Renaud, Pierre ; Andreff, Nicolas ; Gogu, Grigore ; Dhome, Michel
Author_Institution :
LaRAMA, Univ. Blaise Pascal, Clermont-Ferrand, France
Abstract :
In this paper, a new pose selection criterion for the kinematic calibration of parallel mechanisms is proposed. It enables one to take into account the measurement noise amplification that may occur for parallel mechanisms, as well as the variation of amplitude and anisotropy of the measuring device accuracy. This new criterion is applied to vision-based calibration of an Orthoglide mechanism, both in simulation, with comparison to existing criteria, and experimentally.
Keywords :
end effectors; least squares approximations; manipulator kinematics; robot vision; Orthoglide mechanism; anisotropy; measuring device accuracy; noise amplification; optimal pose selection; parallel mechanisms; vision based kinematic calibration; Anisotropic magnetoresistance; Calibration; Cost function; Kinematics; Mechanical variables measurement; Noise measurement; Parameter estimation; Performance evaluation; Position measurement; Q measurement;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249201
