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Design of experiments for calibration of planar anthropomorphic manipulators

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4 Author(s)
Klimchik, A. ; Ecole des Mines de Nantes, Nantes, France ; Yier Wu ; Caro, S. ; Pashkevich, A.

The paper presents a novel technique for the design of optimal calibration experiments for a planar anthropomorphic manipulator with n degrees of freedom. Proposed approach for selection of manipulator configurations allows essentially improving calibration accuracy and reducing parameter identification errors. The results are illustrated by application examples that deal with typical anthropomorphic manipulators.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011