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| Multi Dimensional Non-Uniform Interpolation and Approximation for Robot Calibration |
Olivier Blanc
Section Microtechnique, EPFL |
Semester project
June 2006 |
Abstract |
The Sigma 6 is a high precision 6 DOF robot developped at LSRO (EPFL). For this kind of robot a good calibration system is necessary. In this work, calibration methods based on interpolation and approximation are treated.
We approach the problem from a theoretical point of view and consider the general case of irregular samples in N dimensions, restricting the solution to B-spline based functions. We derive an iterative algorithm for solving this problem in 6 dimensions. Finally, we discuss the results of the experiments.
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