Geometric Error Modeling of Parallel Manipulators Based on Conformal Geometric Algebra

2018 ◽  
Vol 28 (1) ◽  
Author(s):  
Binbin Lian
Keyword(s):  
Geometric Algebra ◽  
Parallel Manipulators ◽  
Geometric Error ◽  
Error Modeling ◽  
Conformal Geometric Algebra

A General Approach for Geometric Error Modeling of Lower Mobility Parallel Manipulators

2011 ◽  
Vol 3 (2) ◽  
Author(s):  
Haitao Liu ◽  
Tian Huang ◽  
Derek G. Chetwynd
Keyword(s):  
Systematic Approach ◽  
Parallel Manipulators ◽  
Geometric Error ◽  
Error Modeling ◽  
Kinematic Calibration ◽  
Accuracy Improvement ◽  
Linear Map ◽  
Homogeneous Transformation Matrix ◽  
Lower Mobility ◽  
Source Errors

This paper presents a general and systematic approach for geometric error modeling of lower mobility manipulators. The approach can be implemented in three steps: (1) development of a linear map between the pose error twist and source errors within an individual limb using the homogeneous transformation matrix method; (2) formulation of a linear map between the pose error twist and the joint error intensities of a lower mobility parallel manipulator; and (3) combination of these two models. The merit of this approach lies in that it enables the source errors affecting the compensatable and uncompensatable pose accuracy of the platform to be explicitly separated, thereby providing designers and/or field engineers with an informative guideline for the accuracy improvement achievable by suitable measures, i.e., component tolerancing in design, manufacturing and assembly processes, and kinematic calibration. Three typical and well-known parallel manipulators are taken as examples to illustrate the generality and effectiveness of this approach.

Reconfigurable data driven virtual machine tool: Geometric error modeling and evaluation

2015 ◽  
Vol 10 ◽  
pp. 120-130 ◽  
Author(s):  
Ronnie R. Fesperman ◽  
Shawn P. Moylan ◽  
Gregory W. Vogl ◽  
M. Alkan Donmez
Keyword(s):  
Machine Tool ◽  
Virtual Machine ◽  
Geometric Error ◽  
Error Modeling ◽  
Data Driven ◽  
Virtual Machine Tool

Foundations for Strip Adjustment of Airborne Laserscanning Data with Conformal Geometric Algebra

2021 ◽  
Vol 32 (1) ◽  
Author(s):  
Eckhard Hitzer ◽  
Werner Benger ◽  
Manfred Niederwieser ◽  
Ramona Baran ◽  
Frank Steinbacher
Keyword(s):  
Geometric Algebra ◽  
Conformal Geometric Algebra

Real-time rendering under distant illumination with conformal geometric algebra

2017 ◽  
Vol 41 (11) ◽  
pp. 4131-4147 ◽  
Author(s):  
Margarita Papaefthymiou ◽  
George Papagiannakis
Keyword(s):  
Real Time ◽  
Geometric Algebra ◽  
Conformal Geometric Algebra

Feature preserving multiresolution subdivision and simplification of point clouds: A conformal geometric algebra approach

2017 ◽  
Vol 41 (11) ◽  
pp. 4074-4087 ◽  
Author(s):  
Shuai Yuan ◽  
Shuai Zhu ◽  
Dong-Shuang Li ◽  
Wen Luo ◽  
Zhao-Yuan Yu ◽  
...  
Keyword(s):  
Geometric Algebra ◽  
Point Clouds ◽  
Conformal Geometric Algebra ◽  
Algebra Approach ◽  
Feature Preserving

Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra

2014 ◽  
Vol 24 (2) ◽  
pp. 533-552 ◽  
Author(s):  
L. González-Jiménez ◽  
O. Carbajal-Espinosa ◽  
A. Loukianov ◽  
E. Bayro-Corrochano
Keyword(s):  
Geometric Algebra ◽  
Robot Manipulators ◽  
Conformal Geometric Algebra ◽  
Pose Control
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