Kinematic calibration of the parallel mechanism using double-ball-bar system

2007 ◽  
Vol 43 (07) ◽  
pp. 16 ◽  
Author(s):  
Zhenyu HONG
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Calibration ◽  
Double Ball Bar ◽  
Ball Bar

A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series

2004 ◽  
Vol 126 (5) ◽  
pp. 856-865 ◽  
Author(s):  
Yukio Takeda ◽  
Gang Shen ◽  
Hiroaki Funabashi
Keyword(s):  
Fourier Series ◽  
Measurement Error ◽  
Calibration Method ◽  
Kinematic Calibration ◽  
Double Ball Bar ◽  
Ball Bar ◽  
Optimal Set ◽  
Adequate Measurement ◽  
Calibration Parameters ◽  
Low Order

For kinematic calibration of robots, we proposed using a low order Fourier series obtained by transforming the data for circular measurement paths. The errors of the realized paths were measured using a Double-Ball-Bar (DBB) system. Two nondimensional indices were proposed for evaluating the orthogonalities of the measurement paths and calibration parameters. An index was also proposed to evaluate the accuracy of the calibration with regard to measurement error. An algorithm for determining adequate measurement paths and an optimal set of a specified number of paths using these indices was also proposed. The effectiveness of the proposed method, indices, and algorithm was investigated through simulations and experiments with an experimental 6 dof in-parallel actuated worktable that we developed.

scholarly journals Kinematic calibration of a 3-DOF spindle head using a double ball bar

2016 ◽  
Vol 102 ◽  
pp. 167-178 ◽  
Author(s):  
Wenjie Tian ◽  
Fuwen Yin ◽  
Haitao Liu ◽  
Jinhe Li ◽  
Qing Li ◽  
...  
Keyword(s):  
Kinematic Calibration ◽  
Double Ball Bar ◽  
Ball Bar

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
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