Journal ArticleDOI
An implicit loop method for kinematic calibration and its application to closed-chain mechanisms
Charles W. Wampler,John M. Hollerbach,T. Arai +2 more
- Vol. 11, Iss: 5, pp 710-724
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TLDR
A unified formulation for the calibration of both serial-link robots and robotic mechanisms having kinematic closed-loops is presented and applied experimentally to two 6-degree-of-freedom devices: the RSI 6-DOF hand controller and the MEL "modified Stewart platform".Abstract:
A unified formulation for the calibration of both serial-link robots and robotic mechanisms having kinematic closed-loops is presented and applied experimentally to two 6-degree-of-freedom devices: the RSI 6-DOF hand controller and the MEL "modified Stewart platform". The unification is based on an equivalence between end-effector measurements and constraints imposed by the closure of kinematic loops. Errors are allocated to the joints such that the loop equations are satisfied exactly, which eliminates the issue of equation scaling and simplifies the treatment of multi-loop mechanisms. For the experiments reported here, no external measuring devices are used; instead we rely on measurements of displacements in some of the passive joints of the devices. Using a priori estimates of the statistics of the measurement errors and the parameter errors, the method estimates the parameters and their accuracy, and tests for unmodeled factors. >read more
Citations
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Journal ArticleDOI
The Stewart platform manipulator: a review
TL;DR: A review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform can be found in this article, where the authors highlight the distinctions of this class from the conventional serial robot manipulators and the novel perspectives that are necessary for the analysis and design of the Stewart platforms in particular and parallel manipulators in general.
Journal ArticleDOI
Optimal robot excitation and identification
TL;DR: Experiments on an industrial robot show that the presented trajectory design and maximum-likelihood parameter estimation approaches complement each other to make a practicable robot identification technique which yields accurate robot models.
Journal ArticleDOI
The calibration index and taxonomy for robot kinematic calibration methods
TL;DR: A calibration index is in troduced, based on the mobility equation, that considers sensed and unsensed joints and single and multiple loops and ex presses the surplus of measurements over degrees of freedom at each pose.
Journal ArticleDOI
Self-calibration of parallel mechanisms with a case study on Stewart platforms
TL;DR: It is shown that by installing a number of redundant sensors on the Stewart platform, the system is able to perform self-calibration and the approach provides a tool for rapid and autonomous calibration of the parallel mechanism.
Journal ArticleDOI
Self calibration of Stewart-Gough parallel robots without extra sensors
Wisama Khalil,S. Besnard +1 more
TL;DR: The calibration makes use of the motorized prismatic joint positions corresponding to some sets of configurations where in each set either a passive universal joint or a passive spherical joint is fixed using a lock mechanism.
References
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Book
Numerical Recipes in C: The Art of Scientific Computing
TL;DR: Numerical Recipes: The Art of Scientific Computing as discussed by the authors is a complete text and reference book on scientific computing with over 100 new routines (now well over 300 in all), plus upgraded versions of many of the original routines, with many new topics presented at the same accessible level.
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Numerical Recipes, The Art of Scientific Computing
Book
Applied Optimal Estimation
TL;DR: This is the first book on the optimal estimation that places its major emphasis on practical applications, treating the subject more from an engineering than a mathematical orientation, and the theory and practice of optimal estimation is presented.
Book
Applied Optimal Control: Optimization, Estimation, and Control
TL;DR: This best-selling text focuses on the analysis and design of complicated dynamics systems and is recommended by engineers, applied mathematicians, and undergraduates.
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Self calibration of Stewart-Gough parallel robots without extra sensors
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