Interval method for calibration of parallel robots: Vision-based experiments
✍ Scribed by David Daney; Nicolas Andreff; Gilles Chabert; Yves Papegay
- Publisher
- Elsevier Science
- Year
- 2006
- Tongue
- English
- Weight
- 357 KB
- Volume
- 41
- Category
- Article
- ISSN
- 0094-114X
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✦ Synopsis
This paper is a theoretical and experimental study of how interval arithmetic and analysis methods can be used to achieve (1) numerical certification of the kinematic calibration of parallel robots, and (2) a possible validation of the kinematic model used in calibration. First, a detailed description is given of our experimental device and vision-based measurement method. The usual calibration methods are then reviewed and applied to our experimental data set, yielding a motivation for numerical certification of the results. Next, interval calibration methods (which have already been described in a previous work) are also reviewed and applied to the data. Finally, the experimental results are discussed and interpreted.