Title :
A statistical approach for the computation of the forward kinematic model of redundantly actuated mechanisms
Author :
Marquet, Frederic ; Pierrot, Franqois ; Company, Olivier
Author_Institution :
UMR, Montpellier, France
Abstract :
The forward kinematic model (FKM) of a redundantly actuated robot is not unique: if each actuator is equipped with an encoder, there are more joint data than strictly necessary for computing nacelle position. It is then possible to fuse competitive data to find the nacelle position. This paper proposes then a method based on a probabilistic approach to determine how computing the FKM to obtain, in terms of probability, the lowest Cartesian error.
Keywords :
actuators; probabilistic logic; probability; redundant manipulators; statistical analysis; encoder; forward kinematic model; lowest Cartesian error; nacelle position computation; probability; redundantly actuated robot; Actuators; Arm; Equations; Force control; Jacobian matrices; Kinematics; Lead; Orbital robotics; Robot sensing systems; Solid modeling;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249707
