TY - GEN
T1 - Interval methods for certification of the kinematic calibration of parallel robots
AU - Daney, David
AU - Papegay, Yves A.
AU - Neumaier, Arnold
N1 - Zeitschrift: Proceedings - IEEE International Conference on Robotics and Automation
Coden: PIIAE
Affiliations: COPRIN Research Group, INRIA Sophia Antipolis, 2004 Route des Lucioles, 06902 Sophia Antipolis, France; Institut für Mathematik, Universität Wien, Strudlhofgasse 4, A-1090 Wien, Austria
Adressen: Daney, D.; COPRIN Research Group; INRIA Sophia Antipolis; 2004 Route des Lucioles 06902 Sophia Antipolis, France; email: [email protected]
Source-File: 506Scopus.csv
Import aus Scopus: 2-s2.0-3042671140
Importdatum: 24.01.2007 11:24:45
22.10.2007: Datenanforderung 1920 (Import Sachbearbeiter)
04.01.2008: Datenanforderung 2054 (Import Sachbearbeiter)
PY - 2004
Y1 - 2004
N2 - In this paper, we demonstrate how methods based on interval arithmetic and interval analysis can be used to achieve numerical certification of the kinematic calibration of a parallel robots. We introduce our work by describing the usual calibration methods and the motivations for a numerical certification. Then, we briefly present the interval methods we used and the kinematic calibration problem. In the main part, we develop our certified approach of this problem in the case of a Gough platform, and we show with numerical examples how this approach avoids wrong solutions produced by classical approach. Details on implementation and performance are also given.
AB - In this paper, we demonstrate how methods based on interval arithmetic and interval analysis can be used to achieve numerical certification of the kinematic calibration of a parallel robots. We introduce our work by describing the usual calibration methods and the motivations for a numerical certification. Then, we briefly present the interval methods we used and the kinematic calibration problem. In the main part, we develop our certified approach of this problem in the case of a Gough platform, and we show with numerical examples how this approach avoids wrong solutions produced by classical approach. Details on implementation and performance are also given.
M3 - Contribution to proceedings
SN - 978-0-7803-8232-9
T3 - Proceedings IEEE International Conference on Robotics and Automation
SP - 1913
EP - 1918
BT - Proceedings- 2004 IEEE International Conference on Robotics and Automation
PB - IEEE
CY - Piscataway
ER -