Optimal pose selection for calibration of planar anthropomorphic manipulators

Abstract : The paper is devoted to the calibration experiment design for serial anthropomorphic manipulators with arbitrary number of links. It proposes simple rules for the selection of manipulator configurations that allow the user to essentially improve calibration accuracy and reduce identification errors. Although the main results have been obtained for the planar manipulators, they can be also useful for calibration of more complicated mechanisms. The efficiency of the proposed approach is illustrated with several examples that deal with typical planar manipulators and an anthropomorphic industrial robot. (C) 2014 Elsevier Inc. All rights reserved.
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Article dans une revue
Precision Engineering, Elsevier, 2015, 40, pp.214-229. 〈10.1016/j.precisioneng.2014.12.001〉
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https://hal-mines-nantes.archives-ouvertes.fr/hal-01204736
Contributeur : Nathalie Fontaine <>
Soumis le : jeudi 24 septembre 2015 - 15:00:26
Dernière modification le : jeudi 11 janvier 2018 - 06:20:54

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Alexandr Klimchik, Stéphane Caro, Anatol Pashkevich. Optimal pose selection for calibration of planar anthropomorphic manipulators. Precision Engineering, Elsevier, 2015, 40, pp.214-229. 〈10.1016/j.precisioneng.2014.12.001〉. 〈hal-01204736〉

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