Identifiable Parameters and Optimum Configurations for Robots Calibration

Presentation d'une methode generale pour identifier les parametres geometriques de robots. Un algorithme est donne pour calculer les parametres geometriques identifiables. Cet algorithme est generalise aux robots a structure arborescente. Le probleme de selection de configurations optumum a utiliser durant l'identification est discute et une solution est proposee

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