Calibration of a parallel robot using multiple kinematic closed loops
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A method as presented for autonomous kanematzc calzbratzon of a 3-DOF redundant parallel robot. Mul- taple closed loops are used an a least squares optamzza- iaon method. Ill-condataonang, column scalang of the gradzeni matrax, and obseraabalaty andaces for the best pose set of robot calzbratzon configurataons are das- cussed. Ezperamental results are presented and com- pared wath the results iiszng an external calzbratzon de- vace.Keywords
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