Philippe Poignet, Etienne Dombre, Olivier Merigeaux, François Pierrot and Gilles Duchemin
This paper focusses on two active intrinsically safe medical robots – Hippocrate and DERMAROB – designed by the LIRMM laboratory and manufactured by SINTERS. For both of them, we…
Abstract
This paper focusses on two active intrinsically safe medical robots – Hippocrate and DERMAROB – designed by the LIRMM laboratory and manufactured by SINTERS. For both of them, we discuss design and control issues.
A television comic announces a satiric Golden Fleece Award for the faux pas of some government official. The San Diego Chicken hams it up in the stands of the baseball park. A…
Abstract
A television comic announces a satiric Golden Fleece Award for the faux pas of some government official. The San Diego Chicken hams it up in the stands of the baseball park. A Swiss mime troupe advertises the services of a communications corporation. All these may be more familiar to young people today than is a circus clown. These and other entertainers are all in the business of laughter and provide commentaries on current society.
Nicolas Andreff, Pierre Renaud, Philippe Martinet and Franc¸ois Pierrot
Presents the kinematic calibration of an H4 parallel prototype robot using a vision‐based measuring device. Calibration is performed according to the inverse kinematic model…
Abstract
Presents the kinematic calibration of an H4 parallel prototype robot using a vision‐based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end‐effector pose (i.e. position and orientation) has to be measured with the utmost accuracy. Thus, first the practical accuracy of the low‐cost vision‐based measuring system is evaluated to have a precision in the order of magnitude of 10μ_it;m and 10−3° for a 1,024×768 pixel CCD camera. Second, the prototype is calibrated using the easy‐to‐install vision system, yielding a final positioning accuracy of the end‐effector reduced from more than 1cm down to less than 0.5mm. Also provides a discussion on the use of such a method on commercial systems.