Kinematic Calibration of Linear-Actuated Parallel Mechanisms from Leg Observation

Abstract : In this article, an original algorithm is proposed to achieve the kinematic calibration of parallel mechanisms with linear actuators on the base, using vision as an exteroceptive sensor to perform measurements on the legs of the mechanism. The calibration can be performed without adding proprioceptive sensors or re- stricting the mechanism’s workspace during the calibration process. The algorithm is implemented for the calibration of the I4 parallel mechanism with experimental results.
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Pierre Renaud, Nicolas Andreff, Sébastien Krut, Grigore Gogu. Kinematic Calibration of Linear-Actuated Parallel Mechanisms from Leg Observation. ISR: International Symposium on Robotics, Mar 2004, Paris, France. ⟨lirmm-00108814⟩

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