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Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Gaël Ecorchard, +2 more
- 01 May 2010 - 
- Vol. 45, Iss: 5, pp 795-810
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TLDR
In this article, an elasto-geometrical and calibration method is proposed to identify the geometrical errors of a planar kinematic mechanism without taking into account the effects of the elastic deformations.
About: 
This article is published in Mechanism and Machine Theory.The article was published on 2010-05-01 and is currently open access. It has received 29 citations till now. The article focuses on the topics: Kinematics.

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Erratum to “A Review of Research Aspects of Redundantly Actuated Parallel Robots for Enabling Further Applications”

Naser Mostashiri, +3 more
- 23 Jan 2018 - 
TL;DR: This paper provides a comprehensive review of the published literature on RAPRs, since this field emerged over three decades ago, to lay a foundation for next investigations and enhancing the state of the art.
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On-line calibration and uncertainties evaluation of spherical joint positions on large aircraft component for zero-clearance posture alignment

Zhengping Deng, +3 more
- 01 Apr 2019 - 
TL;DR: A novel method for on-line correction and uncertainties evaluation of the positions of spherical joint centers (SJCs) is presented and provides a promising alternative or supplement for the conventional optimal posture selection method to improve calibration accuracy.
Journal ArticleDOI

Pose Characterization and Analysis of Soft Continuum Robots With Modeling Uncertainties Based on Interval Arithmetic

Ning Tan, +2 more
- 01 Apr 2019 - 
TL;DR: A systematical interval-based framework of inherent uncertainties and pose evaluation for a class of soft continuum robots driven by flexible shafts and a case study of uncertainty interval characterization procedure which is domain-specific for soft actuators is provided.
Journal ArticleDOI

Parameter Identification and Nonparametric Calibration of the Tri-Pyramid Robot

Shuheng Liao, +3 more
- 09 Jun 2020 - 
TL;DR: A combined parametric and nonparametric calibration method for the geometric and nongeometric errors of the Tri-pyramid Robot is presented and the accuracy of the robot can be improved by 60% with the proposed method.
Journal ArticleDOI

Kinematic calibration of the 3-degree-of-freedom redundantly actuated spatial parallel module of a five-axis hybrid machine:

Xuan Luo, +2 more
TL;DR: An improved kinematic calibration method for the redundantly actuated spatial parallel module of a five-axis hybrid machine shows better convergence value and speed in identifying error parameters, and therefore the effectiveness and efficiency of the proposed method are validated.
References
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Solving least squares problems

Charles L. Lawson, +1 more
TL;DR: Since the lm function provides a lot of features it is rather complicated so it is going to instead use the function lsfit as a model, which computes only the coefficient estimates and the residuals.
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Solving Least Squares Problems

Ake Bjork, +2 more
- 01 Jul 1976 - 
Journal ArticleDOI

Solving Least Squares Problems.

Robert F. Ling, +2 more
- 01 Dec 1977 - 
Journal ArticleDOI

Dynamics and control of redundantly actuated parallel manipulators

Hui Cheng, +2 more
- 01 Dec 2003 - 
TL;DR: In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.
Journal ArticleDOI

Stiffness analysis of overconstrained parallel manipulators

A. Pashkevich, +3 more
- 01 May 2009 - 
TL;DR: A new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints is presented, based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them.
Related Papers (5)

Design and analysis of a redundantly actuated parallel mechanism for rapid machining

JongWon Kim, +6 more

A systematic analytical method for PKM stiffness matrix calculation

D. Deblaise, +2 more

Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control

Andreas Müller
- 01 Aug 2005 - 

Force redundancy in parallel manipulators: Theoretical and practical issues

Bhaskar DasGupta, +1 more
- 01 Aug 1998 - 

Parametric stiffness analysis of the Orthoglide

Félix Majou, +4 more
- 01 Mar 2007 - 
Frequently Asked Questions (1)
Q1. What are the contributions mentioned in the paper "Elasto-geometrical modeling and calibration of redundantly actuated pkms" ?

The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism.