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Calibration of hexaglide parallel manipulators using only input joint variables

Abtahi, M ; Sharif University of Technology | 2009

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2008-66162
  3. Publisher: 2009
  4. Abstract:
  5. In the application of parallel robots, it is necessary to calibrate the geometric parameters and improve the positioning accuracy for accurate task performance. Traditionally, to perform system calibration, one needs to measure a number of robot poses using an external measuring device. However, this process is often time-consuming, expensive and difficult for robot on-line calibration. In this paper, a methodical way of self-calibrating of Hexaglide parallel robot is introduced. This method is performable only by measuring input joint variables in some sets of configurations where in each set center of the end-effector is fixed, but orientations are different. Simulations give us an idea about the number of points that must be measured, the number of orientations in each point and the effect of noise on the calibration accuracy. Copyright © 2008 by ASME
  6. Keywords:
  7. Calibration accuracy ; Geometric parameter ; Hexaglide ; Measuring device ; On-line calibration ; Parallel manipulators ; Parallel robots ; Positioning accuracy ; Robot pose ; Self-calibrating ; System calibration ; Task performance ; Calibration ; Inverse kinematics ; Manipulators ; Mechanical engineering ; Robots
  8. Source: 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 11 , 2009 , Pages 861-867 ; 9780791848722 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2008/48722/861/335419