Elias' Article

Callibration of parallel robots: on the elimination of pose-dependent parameters.
Ioannis Z. Emiris, David Daney, Yves Papegay, Elias P. Tsigaridas, and Jean-Pierre. Merlet.
In European Conf. on Mechanism Science (EuCoMeS), Austria, Feb 21--26 2006.

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Abstract:

We motivate and study the use of the forward kinematic model in the calibration scheme of parallel robots. Classical methods uses this model based only on the internal sensors for parameters elimination. One aim of the paper is to demonstrate how, in this well-constrained case, the model has numerous different solutions, how selecting a solution can lead to critical difficulties and possibly erroneous results. We propose two kind of alternatives, one drawing upon the methods of computer algebra to explicit the relation between the set of sensors and the parameters, and another which minimize the residual errors of an over-constrained formulation of the forward kinematics. This propositions are substantiated by experiments with planar robots, which are easy to describe completely and offer a full understanding of the underlying modeling and behavior.

@InProceedings{edptm-eucomes-2006,
  author =       {Ioannis~Z. Emiris and David Daney and Yves Papegay
                  and Elias~P. Tsigaridas and Jean-Pierre. Merlet},
  title =        {Callibration of parallel robots: on the elimination
                  of pose-dependent parameters},
  booktitle =    {European Conf. on Mechanism Science (EuCoMeS)},
  year =         2006,
  address =      {Austria},
  month =        {Feb 21--26},
  abstract =     "We motivate and study the use of the forward
                  kinematic model in the calibration scheme of
                  parallel robots. Classical methods uses this model
                  based only on the internal sensors for parameters
                  elimination. One aim of the paper is to demonstrate
                  how, in this well-constrained case, the model has
                  numerous different solutions, how selecting a
                  solution can lead to critical difficulties and
                  possibly erroneous results. We propose two kind of
                  alternatives, one drawing upon the methods of
                  computer algebra to explicit the relation between
                  the set of sensors and the parameters, and another
                  which minimize the residual errors of an
                  over-constrained formulation of the forward
                  kinematics. This propositions are substantiated by
                  experiments with planar robots, which are easy to
                  describe completely and offer a full understanding
                  of the underlying modeling and behavior.",
}

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