Parallel topology
robot calibration

Lintott, A. B.; Dunlop, GR

doi:10.1017/s0263574797000489

Cited by 9 publications

(6 citation statements)

References 6 publications

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“…Based on the calibration method proposed by Mooring 10 and Lintott 11 proposes a calibration method for delta robots, which are a type of parallel topology manipulator similar to the Stewart platform, with the assumption that the complete pose information for the end point is available. However, a measurement method for complete pose information is very expensive therefore this is not practical.…”

Section: Existing Methods For Calibrating the Stewart Platformmentioning

confidence: 99%

A practical calibration process using partial information for a commercial Stewart platform

2002

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Most of the calibration methods proposed for the Stewart platform require complex computation or low noise data for the platform's accuracy to be determined. They are not suitable for practical use in a production environment, where the measurement and calibration method should be simple and robust. Using an external laser measuring device to determine the actual accuracy of a Stewart platform, a practical and simple leg length compensating calibration method, that improves the accuracy of the Stewart platform by a magnitude of around 7, is proposed. The procedures and computation algorithms of the calibration method are shown.

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Section: Existing Methods For Calibrating the Stewart Platformmentioning

confidence: 99%

A practical calibration process using partial information for a commercial Stewart platform

2002

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“…According to Daney (126), the best index is O 1 , the square root of the determinant of J T P J P , although the ratio between the square of the minimal singular value and the largest one (the noise amplification index (439)) may be of interest. The maximization of the index leads to poses which are on the edge of the articular workspace, and near singular configurations (368), which is a problem. Convergence toward singularity has to be expected; singular poses have maximal sensitivity of the platform motion to changes in the leg lengths.…”

Section: Determination Of the Calibration Posesmentioning

confidence: 99%

Parallel Robots

2006

Solid Mechanics and Its Applications

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The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids.The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural Published by Springer,

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“…Although this problem were intensively studied using the autonomous or coordinate-based approach [6][7][8][15][16][17] in the past, we will focus upon: (1) geometric error modeling by classifying the source errors affecting the compensatable and uncompensatable pose accuracy; (2) identifiability analysis of the source errors affecting the uncompensatable pose accuracy; and (3) development of a linear error compensator for the real-time implementation. Experiments will be carried out on a prototype to validate the effectiveness of this approach.…”

Section: Introductionmentioning

confidence: 99%

Kinematic calibration of Delta robot using distance measurements

Bai

Mei

Huang

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper deals with kinematic calibration of the Delta robot using distance measurements. The work is mainly placed upon: (1) the error modeling with a goal to classify the source errors affecting both the compensatable and uncompensatable pose accuracy; (2) the full/partial source error identification using a set of distance measurements acquired by a laser tracker; and (3) design of a linearized compensator for real-time error compensation. Experimental results on a prototype show that positioning accuracy of the robot can significantly be improved by the proposed approach.

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Parallel topology robot calibration

Cited by 9 publications

References 6 publications

A practical calibration process using partial information for a commercial Stewart platform

A practical calibration process using partial information for a commercial Stewart platform

Parallel Robots

Kinematic calibration of Delta robot using distance measurements

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