Design of Experiments for Calibration of Planar Anthropomorphic
  Manipulators

Caro, Stéphane; Klimchik, Alexandr; Pashkevich, Anatol; Wu, Yier

research

Design of Experiments for Calibration of Planar Anthropomorphic Manipulators

Authors: Stéphane Caro
Alexandr Klimchik
Anatol Pashkevich
Yier Wu
Publication date: 3 July 2011
Publisher: 'Institute of Electrical and Electronics Engineers (IEEE)'
Doi

Abstract

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.Comment: Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on, Budapest : Hungary (2011