DocumentCode
2863055
Title
Calibration of parallel robots using two inclinometers
Author
Besnard, S. ; Khalil, W.
Author_Institution
Ecole Centrale de Nantes, France
Volume
3
fYear
1999
fDate
1999
Firstpage
1758
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770363
Filename
770363
Link To Document