Complete parameter identification of parallel manipulators with partial pose information using a new measurement device

Robotica ◽  
2004 ◽  
Vol 22 (6) ◽  
pp. 689-695 ◽  
Author(s):  
Abdul Rauf ◽  
Sung-Gaun Kim ◽  
Jeha Ryu
Keyword(s):  
Parallel Manipulators ◽  
Error Reduction ◽  
Initial Guess ◽  
Significant Error ◽  
Degree Of Freedom ◽  
Kinematic Parameters ◽  
Measurement Device ◽  
End Effector ◽  
Six Degree Of Freedom ◽  
Noisy Measurements

A new measurement device is proposed for the calibration of parallel manipulators that can be used to indentify all kinematic parameters with partial pose measurements. The device while restricting the motion of the end-effector to five degree-of-freedom measures three components of posture. A study is performed for a six degree-of-freedom fully parallel Hexa Slide Manipulator. Intrinsic inaccuracies of the measurement device are modeled with two additional identification parameters. Computer simulations show that all parameters, including the additional parameters, can be identified. Results show a significant error reduction, even with noisy measurements, and reveal that the identification is robust against errors in initial guess.

A New Measurement Device for Kinematic Calibration of Parallel Manipulators

2004 ◽  
Author(s):  
Abdul Rauf ◽  
Sung-Gaun Kim ◽  
Jeha Ryu
Keyword(s):  
Parallel Manipulators ◽  
Measurement Procedure ◽  
Initial Guess ◽  
Measurement Noise ◽  
Kinematic Calibration ◽  
Kinematic Parameters ◽  
End Effector ◽  
Experimental Procedure ◽  
New Device ◽  
Rotation Component

Kinematic calibration is a process that estimates the actual values of geometric parameters to minimize the error in absolute positioning. Measuring all the components of Cartesian posture assure identification of all parameters. However, measuring all components, particularly the orientation, can be difficult and expensive. On the other hand, with partial pose measurements, experimental procedure is simpler. However, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a 6 DOF (degree-of-freedom) fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector’s motion to 5 DOF and measures two position components and one rotation component of the end-effector. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

Determination of the Workspace of 6-DOF Parallel Manipulators

1989 ◽  
Author(s):  
C. Gosselin
Keyword(s):  
Parallel Manipulator ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
Geometrical Properties ◽  
Cartesian Space ◽  
Six Degree Of Freedom

Abstract This paper presents an algorithm for the determination of the workspace of parallel manipulators. The method described here, which is based on geometrical properties of the workspace, leads to a simple graphical representation of the regions of the three-dimensional Cartesian space that are attainable by the manipulator with a given orientation of the platform. Moreover, the volume of the workspace can be easily computed by performing an integration on its boundary, which is obtained from the algorithm. Examples are included to illustrate the application of the method to a six-degree-of-freedom fully-parallel manipulator.

Determination of the Singularity Loci of Spherical Three-Degree-of-Freedom Parallel Manipularors

1992 ◽  
Author(s):  
Clément M. Gosselin ◽  
Jaouad Sefrioui
Keyword(s):  
Graphical Representation ◽  
Jacobian Matrix ◽  
Parallel Manipulators ◽  
Degree Of Freedom ◽  
End Effector ◽  
Cartesian Space ◽  
Singularity Locus ◽  
Three Degree Of Freedom ◽  
Analytical Expressions

Abstract In this paper, an algorithm for the determination of the singularity loci of spherical three-degree-of-freedom parallel manipulators with prismatic atuators is presented. These singularity loci, which are obtained as curves or surfaces in the Cartesian space, are of great interest in the context of kinematic design. Indeed, it has been shown elsewhere that parallel manipulators lead to a special type of singularity which is located inside the Cartesian workspace and for which the end-effector becomes uncontrollable. It is therfore important to be able to identify the configurations associated with theses singularities. The algorithm presented is based on analytical expressions of the determinant of a Jacobian matrix, a quantity that is known to vanish in the singular configurations. A general spherical three-degree-of-freedom parallel manipulator with prismatic actuators is first studied. Then, several particular designs are investigated. For each case, an analytical expression of the singularity locus is derived. A graphical representation in the Cartesian space is then obtained.

A Six Degree of Freedom Head Acceleration Measurement Device for Use in Football

2011 ◽  
Vol 27 (1) ◽  
pp. 8-14 ◽  
Author(s):  
Steven Rowson ◽  
Jonathan G. Beckwith ◽  
Jeffrey J. Chu ◽  
Daniel S. Leonard ◽  
Richard M. Greenwald ◽  
...  
Keyword(s):  
Degree Of Freedom ◽  
Head Acceleration ◽  
Wireless Data ◽  
Measurement Device ◽  
Football Helmet ◽  
Wireless Data Transmission ◽  
Hybrid Iii ◽  
Football Helmets ◽  
High Incidence Rate ◽  
Six Degree Of Freedom

The high incidence rate of concussions in football provides a unique opportunity to collect biomechanical data to characterize mild traumatic brain injury. The goal of this study was to validate a six degree of freedom (6DOF) measurement device with 12 single-axis accelerometers that uses a novel algorithm to compute linear and angular head accelerations for each axis of the head. The 6DOF device can be integrated into existing football helmets and is capable of wireless data transmission. A football helmet equipped with the 6DOF device was fitted to a Hybrid III head instrumented with a 9 accelerometer array. The helmet was impacted using a pneumatic linear impactor. Hybrid III head accelerations were compared with that of the 6DOF device. For all impacts, peak Hybrid III head accelerations ranged from 24 g to 176 g and 1,506 rad/s2to 14,431 rad/s2. Average errors for peak linear and angular head acceleration were 1% ± 18% and 3% ± 24%, respectively. The average RMS error of the temporal response for each impact was 12.5 g and 907 rad/s2.

Effect of Link Tolerance and Joint Clearance on End-Effector Positioning of the 3-PSP Manipulator Using Taguchi Method

2015 ◽  
Vol 798 ◽  
pp. 20-24 ◽  
Author(s):  
Fattah Hanafi Sheikhha ◽  
Alireza Akbarzadeh
Keyword(s):  
Taguchi Method ◽  
Parallel Manipulators ◽  
Open Loop ◽  
Joint Clearance ◽  
Kinematic Parameters ◽  
Positioning Accuracy ◽  
End Effector ◽  
Dimensional Tolerance ◽  
Random Nature ◽  
Kinematics Parameters

The use of parallel manipulators in industrial is growing. Among key advantages of parallel manipulators versus their serial counterparts, is their improved end-effector positioning accuracy than open-loop mechanism. However, undesirable dimensional tolerance and joint clearance can decrease the positioning accuracy of the end-effector. In this article, Taguchi method is applied to a 3-PSP parallel manipulator to determine how dimensional tolerance and joint clearance affects the accuracy of its end effector. Because of random nature of dimensional tolerance, it is assumed that actual value of all kinematic parameters are normally distributed. Taguchi method is then used and effect of tolerance on accuracy for each of the manipulator kinematics parameters is obtained. Finally, a tolerance set resulting in best accuracy is predicted by the Taguchi method. This tolerance is verified with a new set of experiment.

scholarly journals Six-degree-of-freedom pose estimation with µm/µrad accuracy based on laser multilateration

2021 ◽  
Vol 10 (1) ◽  
pp. 19-24
Author(s):  
Jan Nitsche ◽  
Matthias Franke ◽  
Nils Haverkamp ◽  
Daniel Heißelmann
Keyword(s):  
Pose Estimation ◽  
Coordinate Measuring Machine ◽  
Degree Of Freedom ◽  
End Effector ◽  
Data Rates ◽  
Measurement Principle ◽  
Measuring Machine ◽  
Position And Orientation ◽  
Six Degree Of Freedom ◽  
Adequate Measurement

Abstract. The estimation of the six-degree-of-freedom position and orientation of an end effector is of high interest in industrial robotics. High precision and data rates are important requirements when choosing an adequate measurement system. In this work, a six-degree-of-freedom pose estimation setup based on laser multilateration is described together with the measurement principle and self-calibration strategies used in this setup. In an experimental setup, data rates of 200 Hz are achieved. During movement, deviations from a reference coordinate measuring machine of 20 µm are observed. During standstill, the deviations are reduced to 5 µm.

Structural Parameters Which Reduce the Number of Manipulator Configurations

1992 ◽  
Author(s):  
Constantinos Mavroidis ◽  
Bernard Roth
Keyword(s):  
General Class ◽  
Inverse Kinematics ◽  
Structural Parameters ◽  
Degree Of Freedom ◽  
Characteristic Polynomials ◽  
End Effector ◽  
Lower Maximum ◽  
Position And Orientation ◽  
Six Degree Of Freedom

Abstract The inverse kinematics of series-chain, six-degree-of-freedom manipulators has been developed to the point where it yields all possible configurations for a given end-effector position and orientation. In this paper we use the methods of inverse kinematics to uncover the conditions on the structural parameters which cause a manipulator to yield a lower maximum number of configurations than its general class. It is shown that the following conditions can cause a diminution In the maximum number of possible configurations: parallel joint axes, perpendicular joint axes, intersecting joint axes, and Bennett geometries. Using these geometries in 6R, 5R1P, 4R2P and 3R3P chains, this paper determines the reduction in degree of their characteristic polynomials.

Sign in / Sign up

Export Citation Format

Share Document