Méthodes ensemblistes pour l'étalonnage géométrique

摘要

This paper presents first results on robot manipulators calibration performed by in- terval constraints propagation. This method gives an interval domain which confine each pa- rameter. This interval width depends on measure precision, modelling errors and set estimation pessimism. This application shows that it is possible to compute large dimension non-linear problems with interval methods. MOTS-CLES : analyse par intervalles, calcul ensembliste, etalonnage des robots, estimation en- sembliste, methode garantie, propagation de contraintes, robotique.