Identification of kinematic parameters of multiple closed chain robotic manipulators working in coordination

Abstract

This paper presents the design, development, and implementation of a kinematic calibration procedure for robot manipulators (that are comprised of closed kinematic chains) working in co-ordination in a multiple robot facility. The objectives of the work described herein were two-fold:(i) to identify the individual kinematic parameters of each robot such as the link lengths, joint angles etc., and(ii) to identify the global kinematic parameters of the multiple robot environment such as the relative positions and Orientations of the individual robot base frames, etc.

Kinematics of Reconfigurable Flexible- Manipulator Using a Local Product-of-Exponentials Formula

“…In case of prismatic joint with a payload, the length of the translating flexible beam ( l ) is a function of time 2 . In case of flexible manipulator having more than one link with revolute joins, the moment of inertia ( L J ) due to other links of serial nature and payload "seen" at distal end of the first link will be a function of time.…”

“…In this paper, it is highly desirable to automatically generate an explicit, complete, accurate kinematics model for reconfigurable flexible-manipulator at disposal. On one hand, many explicit kinematics models were developed for reconfigurable rigidmanipulator, most of which adopted D-H Denvit-Hartenberg parameters method [2], [3]. It is useful for some certain robots reconfiguration constrained by configuration and singularities [4].…”

A Smart and Distributed Measurement System to Acquire and Analyze Mechanical Motion Parameters

“…Obviously, this advantage can only be achieved if the theoretical model of the system is known or if the mechanical device under test had been previously characterized. Concerning monitoring purposes, it must be underlined that abnormal variation of kinematic parameters indicates potential failures of the mechanical devices under analysis [8][9][10]. Thus, monitoring of mechanical devices, particularly the ones that are submitted to hard working conditions, is essential to schedule predictive maintenance [11] and then to improve mechanical systems' reliability.…”

An improved kinematic model for calibration of serial robots having closed-chain mechanisms

“…When errors in the closed-loop actuating elements are considered in kinematic calibration of these robots, parameter redundancies are unavoidable due to the closure constraints imposed by the loops, and hence, the modeling conventions for open-loop structures introduced earlier cannot be employed directly. 10 introduced an experimental method to investigate link length errors of a parallelogram mechanism. In their paper, Schröer et.al.…”