A statistical approach for the computation of the forward kinematic model of redundantly actuated mechanisms

被引：0
|
作者：
Marquet, F [1 ]
Pierrot, F [1 ]
Company, O [1 ]
机构：
[1] UM2, UMR 5506 CNRS, LIRMM, F-34392 Montpellier 5, France
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The forward kinematic model (FKM) of a redundantly actuated robot is not unique: if each actuator is equipped with art encoder, there are more joint data than strictly necessary for computing nacelle position. It is then possible to fuse competitive data to find the nacelle position. This paper proposes then a method based on a probabilistic approach to determine how computing the FKM to obtain, in terms of probability, the lowest Cartesian error.
引用
收藏
页码：3558 / 3563
页数：6
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