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 Combining End-Effector and Legs Observation for Kinematic Calibration of Parallel Mechanisms Pierre Renaud dac2d63e42e5b2febf0b56ea2a299bcb insa-strasbourg.fr pierre-renaud 743096 16799-743096 http://www.researcherid.com/rid/F-4901-2011 https://orcid.org/0000-0002-2320-2807 https://www.idref.fr/075418401 http://www.researcherid.com/rid/http://www.researcherid.com/rid/F-4901-2011 Nicolas Andreff 0132fef52883114631b103b90d54ac25 univ-bpclermont.fr 1276579 699272-1276579 https://orcid.org/0000-0001-5687-5533 https://www.idref.fr/154344710 https://viaf.org/viaf/212298856 http://isni.org/isni/0000000359080407 https://scholar.google.fr/citations?user=tRev5XkAAAAJ François Pierrot e957b7973edf1ef12efa1f603c78c4e2 lirmm.fr francois-pierrot 739127 17626-739127 https://orcid.org/0000-0002-9638-4357 https://www.idref.fr/079213448 Philippe Martinet d0450f3fd95e500bf4d777755953b7fe inria.fr philippe-martinet 20836 2910-20836 https://orcid.org/0000-0001-5827-0431 https://scholar.google.fr/citations?user=uINggbUAAAAJ&hl=fr&oi=ao https://www.idref.fr/056800878 Christine Carvalho De Matos 10103945d6df12b14430343989bb0f6f lirmm.fr 2016-07-06 06:43:32 2023-10-20 12:47:49 2016-07-06 13:56:47 2004-04-26 2016-07-06 contributor Christine Carvalho De Matos 10103945d6df12b14430343989bb0f6f lirmm.fr CCSD lirmm-00108841 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00108841 renaud:lirmm-00108841 <i>ICRA: International Conference on Robotics and Automation</i>, Apr 2004, New Orleans, United States. pp.4116-4121, <a target="_blank" href="https://dx.doi.org/10.1109/ROBOT.2004.1308916">&#x27E8;10.1109/ROBOT.2004.1308916&#x27E9;</a> ICRA: International Conference on Robotics and Automation, Apr 2004, New Orleans, United States. pp.4116-4121, &#x27E8;10.1109/ROBOT.2004.1308916&#x27E9; HAL Authorization Université de Clermont CNRS - Centre national de la recherche scientifique Université Blaise Pascal - Clermont-Ferrand II Conception et commande de robots pour la manipulation Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Test DEXTER Université de Montpellier (2015-2021) International No No Yes Yes Combining End-Effector and Legs Observation for Kinematic Calibration of Parallel Mechanisms Pierre Renaud dac2d63e42e5b2febf0b56ea2a299bcb insa-strasbourg.fr pierre-renaud 743096 16799-743096 http://www.researcherid.com/rid/F-4901-2011 https://orcid.org/0000-0002-2320-2807 https://www.idref.fr/075418401 http://www.researcherid.com/rid/http://www.researcherid.com/rid/F-4901-2011 Nicolas Andreff 0132fef52883114631b103b90d54ac25 univ-bpclermont.fr 1276579 699272-1276579 https://orcid.org/0000-0001-5687-5533 https://www.idref.fr/154344710 https://viaf.org/viaf/212298856 http://isni.org/isni/0000000359080407 https://scholar.google.fr/citations?user=tRev5XkAAAAJ François Pierrot e957b7973edf1ef12efa1f603c78c4e2 lirmm.fr francois-pierrot 739127 17626-739127 https://orcid.org/0000-0002-9638-4357 https://www.idref.fr/079213448 Philippe Martinet d0450f3fd95e500bf4d777755953b7fe inria.fr philippe-martinet 20836 2910-20836 https://orcid.org/0000-0001-5827-0431 https://scholar.google.fr/citations?user=uINggbUAAAAJ&hl=fr&oi=ao https://www.idref.fr/056800878 ICRA: International Conference on Robotics and Automation 2004-04-26 2004-05-01 New Orleans United States IEEE 4 4116-4121 2004 10.1109/ROBOT.2004.1308916 English Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

In this paper, an original approach is proposed for the kinematic calibration of parallel mechanisms. The originality lies in the use of vision to get information on all parts of the mechanism, i.e. its end-effector as well as its legs. Metrological redundancy is therefore maximized to improve the calibration efficiency. The approach is implemented for the calibration of the I4 parallel mechanism [1], with the use of the Jacobian matrix. No accurate camera location is needed so that the experimental procedure is easy to achieve. The calibration algorithm is detailed and experimentally demonstrated more efficient than other calibration methods based on legs observation or end-effector observation.

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