The Probabilistic Robot Kinematics Model and its Application to Sensor Fusion
Lukas Meyer,Klaus H. Strobl,Rudolph Triebel,Lukas Meyer,Klaus H. Strobl,Rudolph Triebel
Robots with elasticity in structural components can suffer from undesired end-effector positioning imprecision, which exceeds the accuracy requirements for successful manipulation. We present the Probabilistic-Product-Of-Exponentials robot model, a novel approach for kinematic modeling of robots. It does not only consider the robot's deterministic geometry but additionally models time-varying and ...
