Interval methods for certification of the kinematic calibration of parallel robots

@article{Daney2004IntervalMF,
  title={Interval methods for certification of the kinematic calibration of parallel robots},
  author={David Daney and Yves Papegay and Arnold Neumaier},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={2},
  pages={1913-1918 Vol.2}
}
In this paper, we demonstrate how methods based on interval arithmetic and interval analysis can be used to achieve numerical certification of the kinematic calibration of a parallel robots. We introduce our work by describing the usual calibration methods and the motivations for a numerical certification. Then, we briefly present the interval methods we used and the kinematic calibration problem. In the main part, we develop our certified approach of this problem in the case of a Gough… CONTINUE READING
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