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A closed-loop neuro-parametric methodology for the calibration of a 5 DOF measuring robot

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4 Author(s)
Monica, T. ; Dipt. di Meccanica Applicata, Universita degli Studi di Brescia, Italy ; Giovanni, L. ; PierLuigi, M. ; Diego, T.

The paper deals with the calibration of industrial robots, a very important issue in robotics. A methodology to improve accuracy obtained by classical parametric methodologies is proposed. The method is based on the application of a neural network together with a classical parametric model of the robot kinematic. Due to this combination of methodologies the approach could be defined as "hybrid neuro-parametric method". Experimental results prove an improvement in the robot accuracy.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:3 )

Date of Conference:

16-20 July 2003