Journal ArticleDOI
Self-calibration of a general hexapod manipulator using cylinder constraints
Y.-J. Chiu,M.-H. Perng +1 more
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TLDR
In this paper, a self-calibration strategy for a general hexapod manipulator was proposed to overcome weaknesses and embrace the merits of existing approaches using a commercial trigger probe and a cylindrical gauge block.Abstract:
This paper presents a novel self-calibration strategy for a general hexapod manipulator to overcome weaknesses and embrace merits of existing approaches A commercial trigger probe and a cylindrical gauge block are adopted in the present approach The algorithm is formulated to solve a nonlinear least squares problem that takes all measurement errors into account The simulation results show that the proposed algorithm has the following advantages: (1) it is capable of calibrating the position and orientation of the gripper or spindle on the platform; (2) it completely avoids the unobservability of certain parameters due to mobility constraints on the passive joints; (3) the hardware of the calibration system is more compact and cost-effective than that adopted in the existing approaches; and (4) the algorithm is numerically robust, efficient and effective, while the calibrated parameter errors are expected to be with the same order of the measurement errors Due to these merits, the present scheme is attractive for an autonomous hexapod manipulator when a great precision is required in a workspace of five degrees-of-freedomread more
Citations
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Journal ArticleDOI
Kinematic calibration of a six-axis serial robot using distance and sphere constraints
Ahmed Joubair,Ilian A. Bonev +1 more
TL;DR: In this article, a kinematic calibration method was developed to improve the accuracy of a six-axis serial industrial robot in a specific target workspace, using distance and sphere constraints.
Journal ArticleDOI
Non-kinematic calibration of a six-axis serial robot using planar constraints
Ahmed Joubair,Ilian A. Bonev +1 more
TL;DR: In this article, a non-kinematic calibration method was developed to improve the accuracy of a six-axis serial robot, in a specific target workspace, using planar constraints, and an experimental validation showed that the robot's accuracy inside the target workspace was significantly enhanced by reducing the maximum distance errors from 1.321mm to 0.274mm.
Journal ArticleDOI
A new calibration method for parallel kinematics machine tools using orientation constraint
TL;DR: In this article, a novel orientation constraint of keeping two attitude angles of the end-effector constant is presented to derive the calibration algorithm with special insight on the effect of using various combinations of two angles.
Journal ArticleDOI
Complete, minimal and continuous error models for the kinematic calibration of parallel manipulators based on POE formula
TL;DR: Using the product of exponentials (POE) formula, orthogonal partitioning matrices can be constructed in a straightforward way to determine and eliminate the redundant error components and the maximal number of identifiable parameters for both serial and parallel manipulators can be unified by one unique formula.
Journal ArticleDOI
A systematic optimization approach for the calibration of parallel kinematics machine tools by a laser tracker
TL;DR: In the approach, a differential error model, an optimized model and a statistical method are combined, and the errors of parallel kinematics machine due to inaccurate motion of joints can be reduced by this approach.
References
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Book
Solving least squares problems
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.
Journal ArticleDOI
Solving Least Squares Problems
Book
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
TL;DR: In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.
Book
Fundamentals of Manipulator Calibration
TL;DR: The details of the calibration process step-by-step are described, covering systems modeling, measurement, identification, correction and performance evaluation.
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.