arXiv:1212.0511
Design of Experiments for Calibration of Planar Anthropomorphic Manipulators
Design of Experiments for Calibration of Planar Anthropomorphic Manipulators
著者: Alexandr Klimchik, Yier Wu, Stéphane Caro, Anatol Pashkevich
分類: cs.RO
原文アブストラクト
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.