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Interval methods for certification of the kinematic calibration of parallel robots
Daney, D.; Papegay, Y.; Neumaier, A.;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 2,
Apr 26-May 1, 2004
Page(s):1913
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1918 Vol.2
Abstract:
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.
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