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A Statistical Approach for the Computation of the Forward Kinematic Model of Redundantly Actuated Mechanisms

Abstract : The forward kinematic model (FKM) of a redundantly actuated robot is not unique: if each actuator is equipped with an encoder, there are more joint data than strictly necessary for computing nacelle position. It is then possible to fuse competitive data to find the nacelle position. This paper proposes then a method based on a probabilistic approach to determine how computing the FKM to obtain, in terms of probability, the lowest Cartesian error.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269463
Contributor : Christine Carvalho de Matos <>
Submitted on : Thursday, April 3, 2008 - 8:12:12 AM
Last modification on : Thursday, December 6, 2018 - 3:06:02 PM
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Frédéric Marquet, François Pierrot, Olivier Company. A Statistical Approach for the Computation of the Forward Kinematic Model of Redundantly Actuated Mechanisms. IROS: Intelligent RObots and Systems, Oct 2003, Las Vegas, NV, United States. pp.3558-3564, ⟨10.1109/IROS.2003.1249707⟩. ⟨lirmm-00269463⟩

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