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Closed-form calibration of the Gantry-Tau parallel robot

Dressler, Isolde LU and Andreff, Nicolas (2008) IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008. In [Host publication title missing]
Abstract
This paper addresses the kinematic calibration of the Gantry-Tau parallel kinematic manipulator. It offers two closed-form solutions to this problem, which do not need any initial guess, contrarily to most calibration methods that are based on non-linear least square minimization. This makes the proposed methods applicable by non expert users in a context of mechanical modularity of the robot. Experimental results validate the approach.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Acceleration, Calibration, Closed-form solution, Costs, Kinematics, Manipulators, Mechanical sensors, Minimization methods, Parallel robots, Service robots
in
[Host publication title missing]
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
external identifiers
  • Scopus:69549128074
DOI
10.1109/IROS.2008.4650904
language
English
LU publication?
yes
id
8c293cd4-9fe4-484d-a559-2e7bdd67dd59 (old id 8516663)
date added to LUP
2016-01-15 11:36:40
date last changed
2016-10-13 04:58:01
@misc{8c293cd4-9fe4-484d-a559-2e7bdd67dd59,
  abstract     = {This paper addresses the kinematic calibration of the Gantry-Tau parallel kinematic manipulator. It offers two closed-form solutions to this problem, which do not need any initial guess, contrarily to most calibration methods that are based on non-linear least square minimization. This makes the proposed methods applicable by non expert users in a context of mechanical modularity of the robot. Experimental results validate the approach.},
  author       = {Dressler, Isolde and Andreff, Nicolas},
  keyword      = {Acceleration,Calibration,Closed-form solution,Costs,Kinematics,Manipulators,Mechanical sensors,Minimization methods,Parallel robots,Service robots},
  language     = {eng},
  series       = {[Host publication title missing]},
  title        = {Closed-form calibration of the Gantry-Tau parallel robot},
  url          = {http://dx.doi.org/10.1109/IROS.2008.4650904},
  year         = {2008},
}