Identifiable parameters for parallel robots kinematic calibration

Sébastian Besnard , Wisama Khalil (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical relations between the identifiable and non identifiable parameters can be obtained.

Mots clés: parallel robots; kinematic calibration; identifiable parameters; minimum parameters

Domaines: Automatique / Robotique

Sébastian Besnard, Wisama Khalil. Identifiable parameters for parallel robots kinematic calibration. ICRA-IEEE Robotics and Automation Conference, 2001, Seoul, South Korea. pp.2859-2866. ⟨hal-00401752⟩