DocumentCode :
3414290
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
fYear :
2011
fDate :
3-7 July 2011
Firstpage :
576
Lastpage :
581
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on
Conference_Location :
Budapest
ISSN :
2159-6247
Print_ISBN :
978-1-4577-0838-1
Type :
conf
DOI :
10.1109/AIM.2011.6027017
Filename :
6027017
Link To Document :
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