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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.
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
and
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
host publication
[Host publication title missing]
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.
conference location
Nice, France
conference dates
2008-09-22
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
2016-04-04 13:51:12
date last changed
2022-01-30 01:01:55
@inproceedings{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}},
  booktitle    = {{[Host publication title missing]}},
  keywords     = {{Acceleration; Calibration; Closed-form solution; Costs; Kinematics; Manipulators; Mechanical sensors; Minimization methods; Parallel robots; Service robots}},
  language     = {{eng}},
  title        = {{Closed-form calibration of the Gantry-Tau parallel robot}},
  url          = {{http://dx.doi.org/10.1109/IROS.2008.4650904}},
  doi          = {{10.1109/IROS.2008.4650904}},
  year         = {{2008}},
}