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