Rozprawy doktorskie na temat „Machinery, Kinematics of”
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Chan, Stephen K. C. "An iterative general inverse kinematics solution with variable damping". Thesis, University of British Columbia, 1987. http://hdl.handle.net/2429/26684.
Pełny tekst źródłaApplied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
Mulligan, I. Jane. "A computational vision system for joint angle sensing". Thesis, University of British Columbia, 1988. http://hdl.handle.net/2429/28029.
Pełny tekst źródłaScience, Faculty of
Computer Science, Department of
Graduate
Maki, Sandra. "Kinematics of helical filament winding on circular and elliptic cylindrical mandrels". Thesis, McGill University, 1988. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=64040.
Pełny tekst źródłaTsai, Der-Liang 1958. "Kinematic and dynamic analyses of cascades of planar four-bar mechanisms". Thesis, The University of Arizona, 1988. http://hdl.handle.net/10150/276690.
Pełny tekst źródłaCordle, William H. "Numerical inverse kinematics for a six-degree-of-freedom manipulator". Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-12052009-020222/.
Pełny tekst źródłaLou, Yunjiang. "Optimal design of parallel manipulators /". View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?ECED%202006%20LOU.
Pełny tekst źródłaNatesan, Arun K. "Kinematic analysis and synthesis of four-bar mechanisms for straight line coupler curves /". Online version of thesis, 1994. http://hdl.handle.net/1850/11785.
Pełny tekst źródłaGezgin, Erkin Alizade Rasim. "Biokinematic analysis of human arm". [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezler/master/makinamuh/T000547.pdf.
Pełny tekst źródłaKeywords: Biokinematic analysis, quaternionlar, structural groups, mechanism theory,robot manipulators. Includes bibliographical references (leaves 78-85).
Williams, Robert L. "Synthesis and design of the RSSR spatial mechanism for function generation". Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/41573.
Pełny tekst źródłaThe purpose of this thesis is to provide a complete package for the synthesis and design of the RSSR spatial function generating mechanism.
In addition to the introductory material this thesis is divided into three sections. The section on background kinematic theory includes synthesis, analysis, link rotatability, transmission quality, and branching analysis. The second division details the computer application of the kinematic theory. The program RSSRSD has been developed to incorporate the RSSR synthesis and design theory. An example is included to demonstrate the computer-implemented theory.
The third part of this thesis includes miscellaneous mechanism considerations and recommendations for further research.The theoretical work in this project is a combination of original derivations and applications of the theory in the mechanism literature.
Master of Science
Neppalli, Srinivas. "Design, construction, inverse kinematics, and visualization of continuum robots". Master's thesis, Mississippi State : Mississippi State University, 2008. http://library.msstate.edu/etd/show.asp?etd=etd-10312008-144310.
Pełny tekst źródłaPond, Christopher Burke. "Motion planning for flexible manipulators". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ37358.pdf.
Pełny tekst źródłaChoi, Byung Jin. "Kinematic design, motion/force coordination, and performance analysis of force controlled wheeled vehicles /". Digital version accessible at:, 1998. http://wwwlib.umi.com/cr/utexas/main.
Pełny tekst źródłaStoenescu, Eleonor D. Marghitu Dan B. "Dynamics and synthesis of kinematic chains with impact and clearance". Auburn, Ala., 2005. http://repo.lib.auburn.edu/EtdRoot/2005/SPRING/Mechanical_Engineering/Dissertation/STOENESCU_ELEONOR_32.pdf.
Pełny tekst źródłaHuat, Tan Hwee. "Discrete trajectory planners for robotic arms". Title page, table of contents and summary only, 1988. http://web4.library.adelaide.edu.au/theses/09PH/09pht1611.pdf.
Pełny tekst źródłaKaparthi, Prashanth. "Kinematic synthesis of a well service machine". Morgantown, W. Va. : [West Virginia University Libraries], 2001. http://etd.wvu.edu/templates/showETD.cfm?recnum=2244.
Pełny tekst źródłaTitle from document title page. Document formatted into pages; contains viii, 64 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 63-64).
Duggan, Matthew Sherman. "Automatic correction of robot programs based on sensor calibration data". Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/17814.
Pełny tekst źródłaHuang, Ji Ming. "Design, modeling and control of a compliant parallel XY micro-motion stage with complete decoupling property". Thesis, University of Macau, 2011. http://umaclib3.umac.mo/record=b2493609.
Pełny tekst źródłaKeselman, Leo. "Motion planning for redundant manipulators and other high degree-of-freedom systems". Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51895.
Pełny tekst źródłaLundberg, Eric J. "The Automated Laser Position System - ALPS". Thesis, Virginia Tech, 1989. http://hdl.handle.net/10919/44123.
Pełny tekst źródłaThe construction industry needs an accurate real-time positioning system. Such a system, if successfully implemented, would lead to significant increases in the performance of many construction operations. This thesis presents the Automated Laser Position System (ALPS) for accurate real-time positioning. ALPS is a spin-off of the Automated Position And Control System (APAC) research, sponsored by the National Science Foundation under grant DMC-8717476.
The ALPS concept has three primary components: a rotation laser, laser detectors and a central processing unit. ALPS generates both horizontal (X,Y) and vertical (Z) position information. It is mathematically predicted that ALPS could produce accuracies of ± 17 mm in the horizontal and ± 5,9 mm in the vertical, at a range of 400 m. Position measurements would be updated 50 times a second.
Master of Science
Carlson, Stephen O. "Adaptive control of a four-bar linkage". Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/45586.
Pełny tekst źródłaThree discrete-time adaptive controllers are developed and applied to Four-bar linkage velocity control to reduce the input link velocity fluctuations without compromising the control system velocity transient response. The successful control techniques use the known mechanism kinematics and the mechanism input link position to control the nonlinear mechanism dynamics. The study shows that the adaptive controls are feasible to implement using current microprocessor technology, and the velocity control performance is improved when compared to an industry-standard analog servomotor control. However, more development is required to realize the full potential of the adapative control technique.
A nonlinear Four-bar dynamic model is developed using Kinematic Influence Coefficients. This model is used to develop the adaptive controls and to computer simulate the control scheme performances. The simulated model velocity response is compared qualitatively to experimental data and shown to be similar to an experimental device.
Master of Science
Centea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure". *McMaster only, 2004.
Znajdź pełny tekst źródłaPece, Carlos Alessandro Zanetti. "An engineering vector-like approach to attitude kinematics & nominal attitude state tracking control". Instituto Tecnológico de Aeronáutica, 2002. http://repositorio.utfpr.edu.br/jspui/handle/1/481.
Pełny tekst źródłaNo tratamento do movimento rotacional tridimensional de corpos rígidos é inevitável lidar-se com o fato de que rotações não são quantidades vetoriais. Elas podem, no entanto, ser tratadas como tais quando o ângulo de rotação é (muito) pequeno. Neste contexto, ou seja, o da análise infinitesimal, as derivadas temporais das variáveis de rotação mantêm um relacionamento simples (às vezes mesmo do tipo vetorial) com os componentes do vetor velocidade angular. Convencionalmente, esta distinta característica não pode ser associada a rotações grandes, nem mesmo medianas. Nesta tese é demonstrado que a relação diferencial entre o vetor rotação e o vetor velocidade angular pode, na realidade, ser expressa em termos de uma simples derivada temporal, desde que o ângulo de rotação seja mantido numa faixa moderada. O artifício permitindo tal simplicidade na equação cinemática (cinemática linear de atitude) com um ângulo de rotação moderado é a escolha criteriosa da base a partir da qual a derivada temporal é observada. Este resultado é utilizado vantajosamente em conjunto com uma versão generalizada das equações de movimento de Euler na construção de uma lei de controle simples. Essa lei realiza, concomitantemente, o rastreamento linear nominal de atitude e o rastreamento linear nominal de velocidade angular (rastreamento linear nominal de estado rotacional), dentro de uma faixa moderada de erro de rastreamento de atitude. O trabalho analítico apresentado é único no sentido em que este combina cinemática rotacional, dinâmica rotacional e controle de forma tal que linearidade nominal entre as variáveis de erro de estado é atingida mesmo para erros moderados de rastreamento de atitude. Pela primeira vez, uma lei de controle permite explicitamente que a dinâmica de erro de estado rotacional em malha fechada seja escolhida e motivada por conceitos físicos úteis da teoria linear de controle. O texto também inclui simulações numéricas que validam e ilustram os resultados teóricos obtidos.
In dealing with rigid body three-dimensional rotational motion, one is inevitably led to face the fact that rotations are not vector quantities. They may, however, be treated as such when the angle of rotation is (very) small. In this context, i.e. the infinitesimal case analysis, the time derivatives of the rotation variables hold simple (sometimes vector-like) relationships to the components of the angular velocity vector. Conventionally, this distinctive characteristic cannot be associated with general moderate-to-large rotations. In this thesis, it is demonstrated that the kinematical differential relationship between the rotation vector and the angular velocity vector may, in fact, be expressed in terms of a mere time derivative, provided that the angle of rotation is kept within moderate bounds. The key to achieve such simplicity in the kinematical equation (linear attitude kinematics) within moderate angles of rotation is a judicious choice of the basis from which the time derivative is observed. This result is used to advantage within a generalised version of Euler’s motion equations to construct a simple control law, which nominally realises both linear attitude tracking and linear angular velocity tracking (nominal linear attitude state tracking), within moderate attitude tracking errors. The analytical work presented here is unique in the sense that it combines attitude kinematics, dynamics and control in such a way that nominal linearity between the attitude state error variables is achieved within moderate attitude tracking errors. For the first time, an attitude control law explicitly enables the nominal closed-loop attitude state error dynamics to be chosen and motivated by useful physical concepts from linear control theory. The text also includes numerical simulations that validate and illustrate the theoretically achieved results.
Du, Plessis Lukas Johannes. "Design and optimum operation of a re-configurable planar Gough-Stewart machining platform". Thesis, Pretoria : [s.n.], 2001. http://upetd.up.ac.za/thesis/available/etd-10312005-140405/.
Pełny tekst źródłaLigata, Haris. "Impact of system-level factors on planetary gear set behavior". Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1172599656.
Pełny tekst źródłaFirla, Marcin. "Automatic signal processing for wind turbine condition monitoring. Time-frequency cropping, kinematic association, and all-sideband demodulation". Thesis, Université Grenoble Alpes (ComUE), 2016. http://www.theses.fr/2016GREAT006/document.
Pełny tekst źródłaThis thesis proposes a three signal-processing methods oriented towards the condition monitoring and diagnosis. In particular the proposed techniques are suited for vibration-based condition monitoring of rotating machinery which works under highly non-stationary operational condition as wind turbines, but it is not limited to such a usage. All the proposed methods are automatic and data-driven algorithms.The first proposed technique enables a selection of the most stationary part of signal by cropping time-frequency representation of the signal.The second method is an algorithm for association of spectral patterns, harmonics and sidebands series, with characteristic frequencies arising from kinematic of a system under inspection. This method features in a unique approach dedicated for rolling-element bearing which enables to overcome difficulties caused by a slippage phenomenon.The third technique is an all-sideband demodulation algorithm. It features in a multi-rate filter and proposes health indicators to facilitate an evaluation of the condition of the investigated system.In this thesis the proposed methods are validated on both, simulated and real-world signals. The presented results show good performance of all the methods
Liu, Chih-Hsing. "A finite element based dynamic modeling method for design analysis of flexible multibody systems". Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/39605.
Pełny tekst źródłaWhittingham, Ben. "Applications of the kinematic modelling of a parallel kinematic mechanism machine tool". Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.272714.
Pełny tekst źródłaReidy, John Joseph. "A kinematic analysis of redundant manipulators /". The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546982074.
Pełny tekst źródłaCORINALDI, DAVID. "Task Optimization of Functionally Redundant Parallel Kinematics Machines". Doctoral thesis, Università Politecnica delle Marche, 2017. http://hdl.handle.net/11566/245604.
Pełny tekst źródłaNowadays, the use of industrial robots is increasingly popular because of their versatility. Frequently, these manipulators have a full ability to position and to orient the end-effector so as to cover a more varied range of tasks to be performed. However, there is a large class of industrial tasks in which the orientation of the terminal in one direction makes no influence to the achievement of the task, e.g. in milling, welding and deburring operations. Clearly this implies a redundancy situation between the manipulator and the task at hand, leading to the question: which orientation along this axis should the end-effector take during the task? Redundancy is a potential and the need for better performances has recently driven research into the formulation of the questions in an optimization problem and the subsequent resolution by means of algorithms. In the definition of the problem, we entrust to an objective function, often linked to indices that quantify the kinematic-static or dynamic performances of the robot and which depend on the posture assumed by the manipulator. The main subject of the thesis is functional redundancy which, so far, has involved serial manipulators; although the extension of the theories to the parallel kinematic machines (PKM) class is often deducted, a comprehensive study is missing. PKM are known to have strengths like higher rigidity, precision and load capacity than serial robots, features that make them more attractive for machining purposes. This thesis addresses the formulation and the resolution of the optimization problem to and the best posture of PKM in functional redundancy situations. The focus is on a particular class of parallel robots, able to the pure rotation of their mobile platform, and it allows to detect the advantages related to the particular architecture that they share. The topic is then extended to the optimal planning of pointing trajectories, with special emphasis on manufacturing tasks.
Hu, Jun. "The kinematic analysis and metrology of cylindrical worm gearing". Thesis, University of Newcastle Upon Tyne, 1997. http://hdl.handle.net/10443/807.
Pełny tekst źródłaMacCarthy, B. L. "A kinematic and dynamic analysis of latch needle cam systems". Thesis, University of Bradford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.374931.
Pełny tekst źródłaSzatmari, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design". Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2007. http://nbn-resolving.de/urn:nbn:de:swb:14-1194357963765-04082.
Pełny tekst źródłaSzatmári, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design". Dresden : Inst. für Werkzeugmaschinen und Steuerungstechnik, Lehrstuhl für Werkzeugmaschinen, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016374557&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
Pełny tekst źródłaLarsson, Fredrik. "Visual Servoing Based on Learned Inverse Kinematics". Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710.
Pełny tekst źródłaInitially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [2]. The correctness of the analytic model could be confirmed through a simulated ideal robot and the source of the problem was deemed to be nonlinearities introduced by weak servos unable to compensate for the effect of gravity. Instead of developing a new analytical model that took the effect of gravity into account, which would be erroneous when the characteristics of the robotic arm changed, e.g. when picking up a heavy object, a learning approach was selected.
As learning method Locally Weighted Projection Regression (LWPR) [27] is used. It is an incremental supervised learning method and it is considered a state-ofthe-art method for function approximation in high dimensional spaces. LWPR is further combined with visual servoing. This allows for an improvement in accuracy by the use of visual feedback and the problems introduced by the weak servos can be solved. By combining the trained LWPR model with visual servoing, a high level of accuracy is reached, which is sufficient for the shape sorting puzzle setup used in COSPAL.
Gao, Jian. "Dynamic position sensing for parallel kinematic machine and new generation machine tool". Thesis, University of Nottingham, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268479.
Pełny tekst źródłaEastwood, Sara. "Error mapping and analysis for hybrid parallel kinematic machines". Thesis, University of Nottingham, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.407093.
Pełny tekst źródłaCoombs, Dana Joseph. "Design of User-Weight-based Exercise Machines". Thesis, Virginia Tech, 1997. http://hdl.handle.net/10919/36761.
Pełny tekst źródłaMaster of Science
Akinci, Arda. "Universal Command Generator For Robotics And Cnc Machinery". Master's thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/12610579/index.pdf.
Pełny tekst źródłaAst, Alexandra. "Control concepts for machine tools with parallel kinematics and flexible bodies". Aachen Shaker, 2008. http://d-nb.info/989104877/04.
Pełny tekst źródłaGundry, Jamie. "A near-perfect flying machine : the 3D kinematics of hoverfly flight". Thesis, University of Cambridge, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.609179.
Pełny tekst źródłaMelvin, Jason W. (Jason Webley). "Design of a kinematic coupling for machine tool fixturing". Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/10556.
Pełny tekst źródłaKucuk, Ali. "The Multi - Objective Path Placement Optimization Of Parallel Kinematic Machines". Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615533/index.pdf.
Pełny tekst źródłaPRS parallel kinematic machine. In the analysis, forward and inverse kinematics solutions are derived as well as the inverse dynamics model using Lagrange&rsquo
s Method. Several algorithms governing the motion of the manipulator are developed. Moreover, optimization goals are defined and evaluated with the genetic algorithm.
Gardner, John F. "Force distribution and trajectory control for closed kinematic chains with applications to walking machines /". The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487331541709602.
Pełny tekst źródłaCaulfield-Browne, Mark. "The application of spline functions for kinematic motion design with particular reference to cam mechanisms". Thesis, University of Nottingham, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.239929.
Pełny tekst źródłaPisipati, Deepak. "Virtual manufacturing of pockets using end milling with multiple tool paths". Ohio : Ohio University, 2004. http://www.ohiolink.edu/etd/view.cgi?ohiou1177011829.
Pełny tekst źródłaUstun, Deniz. "Kinematic And Force Analyses Of Overconstrained Mechanisms". Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613880/index.pdf.
Pełny tekst źródłaDunton, Elizabeth Marie. "Kinematic and stability motion limits for a hexapod walking machine". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1995. http://handle.dtic.mil/100.2/ADA295654.
Pełny tekst źródła"March 1995." Thesis advisor(s): Robert B. McGhee, Michael J. Zyda. Includes bibliographical references. Also available online.
Ecorchard, Gaël. "Static accuracy enhancement of redundantly actuated parallel kinematic machine tools". [Auerbach/Vogtl.] Verl. Wiss. Scripten, 2010. http://d-nb.info/1000285359/04.
Pełny tekst źródłaLyzell, Christian. "Modeling and Identification of the Gantry-Tau Parallel Kinematic Machine". Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8366.
Pełny tekst źródłaThis report presents work done in the field of modeling and identification of parallel kinematic machines. The results have been verified on the new Gantry-Tau prototype situated at the University of Queensland.
The inverse dynamic model for the 3-DOF Gantry-Tau has been validated and implemented to fit the new prototype. The present prototype enables 5-DOF of motion and a new model has been derived and the results are given.
Finally, an attempt to identify the parameters in the inverse dynamics models is presented. It turns out that the identification was not able to give accurate estimates.
Ecorchard, Gaël. "Static Accuracy Enhancement of Redundantly Actuated Parallel Kinematic Machine Tools". Doctoral thesis, Universitätsbibliothek Chemnitz, 2010. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-200902064.
Pełny tekst źródłaMechanismen mit redundanter Parallelkinematik sind Parallelmechanismen, denen eine oder mehrere kinematische Ketten zugefügt werden, um die mechanischen Eigenschaften, insbesondere die Steifigkeit, zu verbessern. Maschinen mit redundanter Parallelkinematik besitzen dann mehr Antriebe als ihr Freiheitsgrad erfordern würde. In dieser Dissertation werden neue Kalibrierungsmethoden entwickelt, um die mit der Antriebsredundanz gebundenen Besonderheiten zu betrachten. Zuerst werden Kalibrierungsmethoden basierend auf geometrischen Modellen getestet. Verschiedene Messmethoden und Messsysteme werden verglichen. Eine Selbstkalibrierung wird durchgeführt. Bei dieser Kalibrierungsmethode werden die redundanten Antriebe freigeschaltet und als Messsystem genutzt. Die Maschine kann dadurch ohne externes Messsystem kalibriert werden. Dennoch betrachten geometrische Kalibrierungsmethode keine internen Verspannungen, die mit der Redundanz verbunden sind. Die elastischen Verformungen werden vernachlässigt, obwohl gezeigt wird, dass sie einen Einfluss auf die Positioniergenauigkeit nach der Kalibrierung haben. Es werden deshalb Modellierungsmethoden entwickelt, die sowohl die Geometrie des Mechanismus als auch die Elementsteifigkeit betrachten, um die Genauigkeit der Kalibrierung zu verbessern. Mit solchen Methoden ist es möglich, die Werkzeugposition redundanter Parallelkinematiken aus den Geometrie- und Steifigkeitsparametern und allen Antriebspositionen zu bestimmen. Die Modellierungsmethoden werden zuerst an einem einfachen Mechanismus angewandt. Sie werden danach an einer realen Maschine getestet und in einem Kalibrierungsprozess genutzt
Les mécanismes à cinématique parallèle redondante sont des mécanismes parallèles auxquels a été ajoutée une branche cinématique, ou plus, dans le but d'améliorer leurs propriétés mécaniques, en particulier, leur rigidité. Les mécanismes à cinématique parallèle redondante possèdent donc plus d'actionneurs que leur degré de liberté. De nouvelles méthodes d'étalonnage sont développées dans cette thèse afin de prendre en compte les spécificités liées à la redondance d'actionnement. Les méthodes d'étalonnage utilisant des modèles géométriques sont d'abord testées. Plusieurs systèmes de mesure et plusieurs modèles de contrôle sont comparés. Un auto-étalonnage est aussi réalisé. Pour cette méthode d'étalonnage, les actionneurs redondants sont mis en mode passif et jouent le rôle de système de mesure. Le mécanisme peut être étalonné sans ajout de codeurs. Cependant, les méthodes d'étalonnage géométriques ne prennent pas en compte les contraintes internes liées à la redondance. Les déformations élastiques sont négligées bien qu'il soit montré qu'elles ont une influence sur la précision de positionnement après étalonnage. Des méthodes de modélisation qui prennent en compte la géométrie du mécanisme ainsi que la rigidité des éléments sont donc développées pour améliorer la précision de l'étalonnage. Avec de telles méthodes, il est possible de déterminer la position de l'outil des mécanismes à redondance d'actionnement à partir de paramètres géométriques et élastiques et de la position de tous les actionneurs. Les méthodes de modélisation sont d'abord appliquées sur un mécanisme simple. Elles sont ensuite testées sur une machine réelle et utilisées dans des processus d'étalonnage