Identifiable parameters for the geometric calibration of parallel robots

• Autorzy: Khalil W. , Besnard S.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a general method for the determination of the identifiable parameters for the geometric calibration of parallel robots. The special case of Stewart-Gough 6 degrees-of-freedom robot is considered in this paper. But this method can be applied for the other structures of parallel robots. The identifiable parameters of various calibration methods are given. Once the identifiable parameters are determined, we can deduce the corresponding physical identification. The method is based on QR decomposition of the observation matrix of the calibration equations. The proposed algorithm can also provide the grouping relations of the non-identifiable parameters with the identifiable parameters.

Słowa kluczowe

EN

geometric calibration; identification; identifiable parameters; parallel robots

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2001
• Tom: Vol. 11, no. 3/4
• Strony: 263--277
• Opis fizyczny: Bibliogr 18 poz., rys., tab., wzory

Twórcy

autor

Khalil W.

• IRCCyN, UMR 6597 C.N.R.S, Ecole Centrale de Nantes B.P. 92 101 44321, Nantes Cedex, France

autor

Besnard S.

• SHERPA ENGINEERING 269/287, rue de la Garenne 92000, Nanterre

Bibliografia

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