Kinematic calibration of a Stewart platform using pose measurements obtained by a single theodolite

Zhuang, Hanqi; Masory, Oren; Yan, Jiahua

doi:10.1109/iros.1995.526237

Cited by 51 publications

(5 citation statements)

References 4 publications

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“…In that case, we could expect higher accuracy as our results indicate higher accuracy for displacements closer to the center position. If necessary, we can perform a kinematic calibration of the string encoder system using methods developed for Stewart platforms [14] to further increase the accuracy.…”

Section: Discussionmentioning

confidence: 99%

Evaluation of a Motion Measurement System for PET Imaging Studies

Wang

Iordachita

et al. 2022

2022 International Symposium on Medical Robotics (ISMR)

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Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution is to construct a robotic system that can support an imaging system surrounding the subject's head, and then move the system to accommodate natural motion. This requires a system to measure the motion of the head with respect to the imaging ring, for use by both the robotic system and the image reconstruction software. We report here the design and experimental evaluation of a parallel string encoder mechanism for sensing this motion. Our preliminary results indicate that the measurement system may achieve accuracy within 0.5 mm, especially for small motions, with improved accuracy possible through kinematic calibration.

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Section: Discussionmentioning

confidence: 99%

Evaluation of a Motion Measurement System for PET Imaging Studies

Wang

Iordachita

et al. 2022

2022 International Symposium on Medical Robotics (ISMR)

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“…Efficient and accurate error detection is necessary for error compensation. ZHUANG Hanqi measured pose error with electro-optic tracking theodolite [12]. It has simple operation, easy installation, large measuring range and relatively high measurement precision.…”

Section: Error Detection Of Parallel Machine Toolmentioning

confidence: 99%

Review on Error Compensation Technology of Parallel Machine Tool

Zhou

Liu

Yuan

et al. 2014

MSF

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“…a 2 bar mechanism in a delta structure) the unique solution can be found taking meaningful criteria for exclusion into account. As a result in the very most cases the inverse kinematic calculation is used for the calibration of parallel structures [9,10,11,12]. In contrast to the calibration procedure for serial structures, the fitness function in the optimization process is based on the deviations of the position of the drives.…”

Section: State Of the Artmentioning

confidence: 99%

Improving the Accuracy of a Multi-Arm-Robot-System by Parameter Identification of the Single Arms

Detert

Mannheim

Hüsing

et al. 2014

KEM

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Based on a novel handling concept, the reconfigurable modular multi-arm robot system PARAGRIP is able to handle objects with six DOF by including them into a parallel kinematic structure. The properties of this repeatedly new created parallel structure can be adjusted by appropriate choice of the grasping-and base points to gain optimal performances for a given task. As kinematic parameters determine the transmission behavior and properties of the structure, deviations in the kinematic control model induce positioning errors of the object. In this work, the reduction of these positioning errors is investigated by parameter identification of the implemented kinematic parameters for a single robotic arm. After deriving the kinematic relations of the system, the pose is measured using an external referencing system. Meaningful kinematic parameters are identified and it is shown that the accuracy of each arm can be increased significantly.

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Kinematic calibration of a Stewart platform using pose measurements obtained by a single theodolite

Cited by 51 publications

References 4 publications

Evaluation of a Motion Measurement System for PET Imaging Studies

Evaluation of a Motion Measurement System for PET Imaging Studies

Review on Error Compensation Technology of Parallel Machine Tool

Improving the Accuracy of a Multi-Arm-Robot-System by Parameter Identification of the Single Arms

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