Abstract
The chapter is devoted to the accuracy improvement in geometric calibration of serial manipulators. Particular attention is paid to the optimal selection of measurement poses, which reduce measurement noise impact on the parameters identification precision. In contrast to previous works, the proposed approach yields simple geometrical patterns that allow user to take into account the joint and workspace constraints and to find measurement configurations without tedious computations. The advantages and practical significance of the proposed approach are illustrated by an example that deals with 6-dof serial manipulator.
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Acknowledgments
The work presented in this chapter was partially funded by the project ANR (Project ANR-2010-SEGI-003-02-COROUSSO), France and FEDER ROBOTEX, France.
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Klimchik, A., Daney, D., Caro, S., Pashkevich, A. (2014). Geometrical Patterns for Measurement Pose Selection in Calibration of Serial Manipulators. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_28
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DOI: https://doi.org/10.1007/978-3-319-06698-1_28
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