Journal ArticleDOI
Self calibration of Stewart-Gough parallel robots without extra sensors
Wisama Khalil,S. Besnard +1 more
- Vol. 15, Iss: 6, pp 1116-1121
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TLDR
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.Abstract:
Presents a method for the autonomous calibration of six degrees-of-freedom parallel robots. 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. Simulations give us an idea about the number of sets that must be used, the number of configurations by set and the effect of noise on the calibration accuracy. The main advantage of this method is that it can be executed rapidly without need to external sensors to measure the position or the orientation of the mobile platform.read more
Citations
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Journal ArticleDOI
Identification of the manipulator stiffness model parameters in industrial environment
Alexandr Klimchik,Alexandr Klimchik,Benoit Furet,Benoit Furet,Stéphane Caro,Anatol Pashkevich,Anatol Pashkevich +6 more
TL;DR: In this paper, the authors address the problem of robotic manipulator calibration in real industrial environment, taking into account the elastic properties of both links and joints, and propose physical algebraic and statistical model reduction methods to solve the problem.
Journal ArticleDOI
Autonomous robot calibration using vision technology
Yan Meng,Hanqi Zhuang +1 more
TL;DR: In this paper, a vision-based self-calibration method for a serial robot manipulator, which only requires a ground-truth scale in the reference frame, is proposed.
Proceedings ArticleDOI
Identifiable parameters for parallel robots kinematic calibration
S. Besnard,Wisama Khalil +1 more
TL;DR: A numerical method for the determination of the identifiable parameters of parallel robots based on QR decomposition of the observation matrix of the calibration system is presented.
Journal ArticleDOI
Simplifying the kinematic calibration of parallel mechanisms using vision-based metrology
TL;DR: The accuracy and ease of use of the proposed vision sensor are outlined, with the suppression of the need for an accurate calibration target, and adequacy to the kinematic calibration process is investigated.
Journal ArticleDOI
Online robot calibration based on vision measurement
Guanglong Du,Ping Zhang +1 more
TL;DR: A vision-based online robot calibration method that only requires several reference images and an efficient automatic approach to detect the corners from the images of the calibration board is proposed.
References
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Journal ArticleDOI
Manipulability of robotic mechanisms
TL;DR: In this article, a measure of manipulability of robotic mechanisms in positioning and orienting end-effectors has been proposed and the best postures of various types of manipulators are given, and a four degree-of-freedom finger is considered from the viewpoint of the measure.
Journal ArticleDOI
Resolved Motion Rate Control of Manipulators and Human Prostheses
TL;DR: The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand.
Proceedings ArticleDOI
Kinematic programming alternatives for redundant manipulators
TL;DR: It is argued that because this technique may be expected to lift closed end effector paths to closed joint angle paths, it provides a promising approach for the control of kinematically redundant industrial manipulators.