Optimal Kinematic Calibration of Robots Based on Maximum Positioning-Error Estimation (Theory and Application to a Parallel-Mechanism Pipe Bender)

2009 ◽  
pp. 133-140 ◽  
Author(s):  
Junichi Imoto ◽  
Yukio Takeda ◽  
Hidenobu Saito ◽  
Ken Ichiryu
Keyword(s):  
Error Estimation ◽  
Parallel Mechanism ◽  
Estimation Theory ◽  
Kinematic Calibration ◽  
Positioning Error

scholarly journals Positioning error compensation for parallel mechanism with two kinematic calibration methods

2020 ◽  
Vol 33 (9) ◽  
pp. 2472-2489
Author(s):  
Guohua ZHAO ◽  
Dan WANG ◽  
Liangbao LIU ◽  
Jiangzhen GUO ◽  
Wuyi CHEN ◽  
...  
Keyword(s):  
Error Compensation ◽  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Positioning Error ◽  
Calibration Methods

scholarly journals Optimal Kinematic Calibration of Robots Based on the Maximum Positioning-Error Estimation

2008 ◽  
Vol 74 (748) ◽  
pp. 3069-3076 ◽  
Author(s):  
Junichi IMOTO ◽  
Yukio TAKEDA ◽  
Hidenobu SAITO ◽  
Ken ICHIRYU
Keyword(s):  
Error Estimation ◽  
Kinematic Calibration ◽  
Positioning Error

Vision‐based kinematic calibration of an H4 parallel mechanism: practical accuracies

2004 ◽  
Vol 31 (3) ◽  
pp. 273-283 ◽  
Author(s):  
Nicolas Andreff ◽  
Pierre Renaud ◽  
Philippe Martinet ◽  
Franc¸ois Pierrot
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Calibration

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

2004 ◽  
Vol 126 (2) ◽  
pp. 307-318 ◽  
Author(s):  
Jay il Jeong ◽  
Dongsoo Kang ◽  
Young Man Cho ◽  
Jongwon Kim
Keyword(s):  
Optimization Algorithm ◽  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Parallel Mechanisms ◽  
Geometrical Constraint ◽  
Kinematic Parameters ◽  
Angle Error ◽  
Calibration Algorithm ◽  
Redundantly Actuated

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structure and measurement values. However, the calibration algorithm for a nonredundant case does not apply for a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm for a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

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