Title :
Design of experiments for calibration of planar anthropomorphic manipulators
Author :
Klimchik, A. ; Yier Wu ; Caro, Stephane ; Pashkevich, A.
Author_Institution :
Ecole des Mines de Nantes, Nantes, France
Abstract :
The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially improving calibration accuracy and reducing parameter identification errors. The results are illustrated by application examples that deal with typical anthropomorphic manipulators.
Keywords :
calibration; design of experiments; manipulators; design of experiments; optimal calibration experiments; planar anthropomorphic manipulators; Accuracy; Calibration; Joints; Manipulators; Mathematical model; Measurement errors; Robot kinematics; anthropomorphic manipulator; calibration; design of experiments;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4577-0838-1
DOI :
10.1109/AIM.2011.6027017