Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Mathematical aspects of calibration by diffeomorphisms
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
In this paper, we present a novel approach to calibrating robotic manipulators-calibration by diffeomorphisms. The method is carried out in detail, placing special emphasis on the mathematical basis of the algorithm. The main idea is based on the synergy of the theory of singular mappings and the large dense diffeomorphic metric mapping framework, a method previously unused in robotic applications, together with reproducing kernel Hilbert spaces. ; The proposed solution allows the determination of appropriate diffeomorphisms, which, as it were, adjust the arbitrarily chosen kinematics to match a real one, thus taking into account inaccuracies arising from inaccurately determined parameters or a previously unmodelled phenomenon, for example, due to high complexity or nonlinearities. The effectiveness of the calibration by diffeomorphisms is illustrated using a numerical experiment for a manipulator with two degrees of freedom.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 35, number 3 (2025)
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2025)
Last modified:
Sep 8, 2025
In our library since:
Sep 8, 2025
Number of object content hits:
6
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/102730
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 1 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 2 (2025)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 35, number 3 (2025)
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| Edition name | Date |
|---|---|
| Mathematical aspects of calibration by diffeomorphisms | Sep 8, 2025 |
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