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Identifiable parameters for parallel robots kinematic calibration

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 13 Nov 2002Publisher:IEEEJournal:Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), volume 3, pages 2,859-2,866
Authors: Sébastien Besnard; Wisama Khalil;

doi: 10.1109/robot.2001.933055

Identifiable parameters for parallel robots kinematic calibration

Abstract

This paper presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical relations between the identifiable and non identifiable parameters can be obtained.

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Keywords

[SPI.AUTO] Engineering Sciences [physics]/Automatic, identifiable parameters, minimum parameters, parallel robots, kinematic calibration

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
52
Top 10%
Top 1%
Top 10%
Green