Contents 1. Introduction
The aim of the kinematic calibration is to calculate accurately the values of the kinematic parameters of the robot in order to improve its accuracy.
Abstract:
Presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-of-freedom parallel robot...Show MoreMetadata
Abstract:
Presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-of-freedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical relations between the parameters which are identified and those which are not identifiable can be obtained for each method.
Published in: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Date of Conference: 21-26 May 2001
Date Added to IEEE Xplore: 09 July 2003
Print ISBN:0-7803-6576-3
Print ISSN: 1050-4729
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