Self Calibration of Gough Platform using leg mobility constraints

David Daney (1)

1 SAGA - Algebraic Systems, Geometry and Applications

A new algorithm for the calibration of a gough platform is presented. It enables auto-calibration as it only uses internal measurements : the leg lengths In order to obtain the necessary information to do so, without adding additional sensors. we introduce some constraints on two legs of the robot. First, the method is described. Second, it is validated by simulation.

Domaines: Robotique [cs.RO]

David Daney. Self Calibration of Gough Platform using leg mobility constraints. 10th world congress of International Federation for the Theory of Machines and Mechanisms (IFToMM), Jun 1999, Oulu, Finland. pp.104-109. ⟨hal-00906476⟩