InforLorV4, Main, Exploration, bibRecord, 009458

Variable elimination for reliable parallel robot calibration

Identifieur interne : 009458 ( Main/Exploration ); précédent : 009457; suivant : 009459

Variable elimination for reliable parallel robot calibration

Auteurs : David Daney [France] ; Ioannis Z. Emiris [France]

Source :

RBID : Hal:inria-00100584

Descripteurs français

mix :
- calibration, parallel robot, planar robot, robot parallèle, robot plan, sparse elimination, élimination creuse, étalonnage.

Abstract

We study overconstrained polynomial systems from an algebraic and numerical perspective in order to improve the accuracy and reliability of Gough platform calibration. By elimination theory, we may limit ourselves to measuring only the position information by external sensors, besides internal sensor measurements. Measuring orientation, which is intricate and error-prone, becomes unnecessary. A planar analogue is used to formally develop the technique and analyze observability by means of the Jacobian. Several experiments are used to compare the existing alternatives with partial information to our approach, by numerical simulation. It is shown that our method significantly improves robustness without compromising accuracy, especially when the measured configurations lie at the workspace's boundary.

Url:

https://hal.inria.fr/inria-00100584

Affiliations:

Links toward previous steps (curation, corpus...)

to stream Hal, to step Corpus: 006C05
to stream Hal, to step Curation: 006C05
to stream Hal, to step Checkpoint: 005C04
to stream Main, to step Merge: 009A17
to stream Main, to step Curation: 009458

Le document en format XML

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<front><div type="abstract" xml:lang="en">We study overconstrained polynomial systems from an algebraic and numerical perspective in order to improve the accuracy and reliability of Gough platform calibration. By elimination theory, we may limit ourselves to measuring only the position information by external sensors, besides internal sensor measurements. Measuring orientation, which is intricate and error-prone, becomes unnecessary. A planar analogue is used to formally develop the technique and analyze observability by means of the Jacobian. Several experiments are used to compare the existing alternatives with partial information to our approach, by numerical simulation. It is shown that our method significantly improves robustness without compromising accuracy, especially when the measured configurations lie at the workspace's boundary.</div>
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Variable elimination for reliable parallel robot calibration

Variable elimination for reliable parallel robot calibration

Source :

Descripteurs français

Abstract

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