Journal ArticleDOI
Kinematic calibration of a 3-DoF rotational parallel manipulator using laser tracker
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Kinematic calibration experiment results of this 3-DoF rotational parallel manipulator show that three angular deviations are improved from 1.97°, 0.24° and 1.75° to 0.10° respectively within the prescribed workspace.Abstract:
This paper proposes a laser tracker based kinematic calibration of a 3-degree-of-freedom (DoF) rotational parallel manipulator that would be applied in tracking and positioning fields. The process is implemented in this paper by four steps: 1) formulation of the geometric error model of this manipulator by means of screw theory considering all possible geometric source errors, which is followed by the verification of this error model employing SolidWorksź software. 2) sensitivity analysis of all geometric source errors based upon Monte Carlo method and remove some errors that have little influence on the pose accuracy of the moving platform in order to decrease the difficulty and complexity of the kinematic calibration. 3) error parameter identification and kinematic calibration experiment using laser tracker. 4) error compensation by amending controller model. Kinematic calibration experiment results of this 3-DoF rotational parallel manipulator show that three angular deviations are improved from 1.97°, 0.24° and 1.75° to 0.53°, 0.10° and 0.19° respectively within the prescribed workspace. Geometric error modeling based on screw theory is presented.The geometric error model is verified based upon the software method.Calibration includes sensitivity analysis, measurement plan and error identification.Software simulation and experiment are given to verify kinematic calibration flow.read more
Citations
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An overview of calibration technology of industrial robots
Zhibin Li,Shuai Li,Xin Luo +2 more
TL;DR: The parameter identification work of existing serial and parallel robots is introduced, and the methods for parameter calibration are summarized and discussed and their advantages and disadvantages are discussed.
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A New Kind of Accurate Calibration Method for Robotic Kinematic Parameters Based on the Extended Kalman and Particle Filter Algorithm
TL;DR: A new kinematic calibration method based on the extended Kalman filter (EKF) and particle filter (PF) algorithm that can significantly improves the positioning accuracy of the robot.
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Kinematic calibration of a 6-DOF hybrid robot by considering multicollinearity in the identification Jacobian
TL;DR: Both simulations and experiments on a prototype machine show that the overall standard deviation of the error parameters identified by Liu estimator is much less than that estimated by linear least squares, confirming its greater robustness in the presence of measurement uncertainty.
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A universal index and an improved PSO algorithm for optimal pose selection in kinematic calibration of a novel surgical robot
TL;DR: In this article, a universal observability index is proposed for optimal measurement configuration selection in robot kinematic calibration experiments, which can be verified by simulation and experiments on a serial surgical robot.
Journal ArticleDOI
Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory
TL;DR: A generic error modeling method of serial robots and extend to parallel robots by finite and instantaneous screw (FIS) theory is presented and the results show that the calibration approach improves the robot accuracy in a robust and efficient manner.
References
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Journal ArticleDOI
Absolute calibration of an ABB IRB 1600 robot using a laser tracker
Albert Nubiola,Ilian A. Bonev +1 more
TL;DR: In this paper, the accuracy of an ABB IRB 1600 industrial robot is improved using a 29-parameter calibration model, developed after extensive experimentation, which takes into account all possible geometric errors (25 geometric error parameters to be identified through optimization).
Proceedings ArticleDOI
On the accuracy of a Stewart platform. I. The effect of manufacturing tolerances
J. Wang,Oren Masory +1 more
TL;DR: The authors present a numerical method for the solution of both inverse and forward kinematic problems of the actual platform model and demonstrate, through simulation, the effect of the above factors on platform accuracy.
Proceedings ArticleDOI
Orientation Workspace Analysis of 6-DOF Parallel Manipulators
Ilian A. Bonev,Jeha Ryu +1 more
TL;DR: In this article, a discretization method for the orientation workspace of 6-DOF parallel manipulators is presented, defined as the set of all attainable orientations of the mobile platform about a fixed point.
Journal ArticleDOI
A calibration method for enhancing robot accuracy through integration of an extended Kalman filter algorithm and an artificial neural network
TL;DR: The combination of model-based identification of the robot geometric errors using EKF and a compensation technique using the ANN could be an effective solution for the correction of all robot error sources.
Proceedings ArticleDOI
Observability index selection for robot calibration
Yu Sun,John M. Hollerbach +1 more
TL;DR: This paper relates 5 observability indexes for robot calibration to the "alphabet optimalities" from the experimental design literature and proves that G-optimality is equivalent to E- Optimality for exact design.
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