Interval methods for certification of the kinematic calibration of parallel robots
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 certifi...
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| creator | Daney, D. Papegay, Y. Neumaier, A. |
| description | 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. |
| doi_str_mv | 10.1109/ROBOT.2004.1308103 |
| format | Conference Proceeding |
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Systems</subject><subject>Convergence</subject><subject>Equations</subject><subject>Exact sciences and technology</subject><subject>Kinematics</subject><subject>Manipulators</subject><subject>Noise measurement</subject><subject>Parallel robots</subject><subject>Robotics</subject><subject>Robustness</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9780780382329</isbn><isbn>0780382323</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFkE1LAzEQhoMfYKn9A3rJxYOHrZOP3STHWtQWCoVSwduSTSY0uu2W7FLw37uyUoeBgfd9ZhheQu4YTBkD87RZP6-3Uw4gp0yAZiAuyIjnSmWg1cclmRiloW-hueDmiowY5JBJxc0NmbTtJ_Qlc8kkjMhmeegwnWxN99jtGt_S0CTqMHUxRGe72BxoE2i3Q_oVD7jvFUedrWOVzubRJlvXWNPUVE3X3pLrYOsWJ39zTN5fX7bzRbZavy3ns1XmhIAuUyCDLHRw3Huv8-BC5ZUUQTGU3nOsUDsrpC4MZ7pgufRYWemBB4-egxJj8jjc3dm6PKa4t-m7bGwsF7NV-asBGANQwIn17MPAHm3bfx-SPbjYnrdYn5YBrnvufuAiIv7bQ8riB38GbsY</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Daney, D.</creator><creator>Papegay, Y.</creator><creator>Neumaier, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope><scope>1XC</scope><scope>VOOES</scope><orcidid>https://orcid.org/0000-0001-8538-5875</orcidid><orcidid>https://orcid.org/0000-0002-0847-7423</orcidid></search><sort><creationdate>2004</creationdate><title>Interval methods for certification of the kinematic calibration of parallel robots</title><author>Daney, D. ; Papegay, Y. ; Neumaier, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c330t-704f468fc2ddd85fcfbd743f71e4dd2ebe8ca348692186154deba4d02fded2073</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Applied sciences</topic><topic>Arithmetic</topic><topic>Calibration</topic><topic>Certification</topic><topic>Computer Science</topic><topic>Computer science; control theory; systems</topic><topic>Control theory. Systems</topic><topic>Convergence</topic><topic>Equations</topic><topic>Exact sciences and technology</topic><topic>Kinematics</topic><topic>Manipulators</topic><topic>Noise measurement</topic><topic>Parallel robots</topic><topic>Robotics</topic><topic>Robustness</topic><toplevel>online_resources</toplevel><creatorcontrib>Daney, D.</creatorcontrib><creatorcontrib>Papegay, Y.</creatorcontrib><creatorcontrib>Neumaier, A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Daney, D.</au><au>Papegay, Y.</au><au>Neumaier, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Interval methods for certification of the kinematic calibration of parallel robots</atitle><btitle>2004 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2004</date><risdate>2004</risdate><volume>2</volume><spage>1913</spage><epage>1918 Vol.2</epage><pages>1913-1918 Vol.2</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9780780382329</isbn><isbn>0780382323</isbn><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. 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| identifier | ISSN: 1050-4729 |
| ispartof | 2004 IEEE International Conference on Robotics and Automation, 2004, Vol.2, p.1913-1918 Vol.2 |
| issn | 1050-4729 2577-087X |
| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Applied sciences Arithmetic Calibration Certification Computer Science Computer science control theory systems Control theory. Systems Convergence Equations Exact sciences and technology Kinematics Manipulators Noise measurement Parallel robots Robotics Robustness |
| title | Interval methods for certification of the kinematic calibration of parallel robots |
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