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.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2003, Las Vegas, NV, United States. IEEE, pp.3558-3564, 2003, 〈10.1109/IROS.2003.1249707〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269463
Contributeur : Christine Carvalho de Matos <>
Soumis le : jeudi 3 avril 2008 - 08:12:12
Dernière modification le : jeudi 6 décembre 2018 - 15:06:02
Document(s) archivé(s) le : vendredi 21 mai 2010 - 01:14:10

Fichier

D145.PDF
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

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. IEEE, pp.3558-3564, 2003, 〈10.1109/IROS.2003.1249707〉. 〈lirmm-00269463〉

Partager

Métriques

Consultations de la notice

142

Téléchargements de fichiers

151