DocumentCode
399405
Title
Optimal pose selection for vision-based kinematic calibration of parallel mechanisms
Author
Renaud, Pierre ; Andreff, Nicolas ; Gogu, Grigore ; Dhome, Michel
Author_Institution
LaRAMA, Univ. Blaise Pascal, Clermont-Ferrand, France
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2223
Abstract
In this paper, a new pose selection criterion for the kinematic calibration of parallel mechanisms is proposed. It enables one to take into account the measurement noise amplification that may occur for parallel mechanisms, as well as the variation of amplitude and anisotropy of the measuring device accuracy. This new criterion is applied to vision-based calibration of an Orthoglide mechanism, both in simulation, with comparison to existing criteria, and experimentally.
Keywords
end effectors; least squares approximations; manipulator kinematics; robot vision; Orthoglide mechanism; anisotropy; measuring device accuracy; noise amplification; optimal pose selection; parallel mechanisms; vision based kinematic calibration; Anisotropic magnetoresistance; Calibration; Cost function; Kinematics; Mechanical variables measurement; Noise measurement; Parameter estimation; Performance evaluation; Position measurement; Q measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249201
Filename
1249201
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