Self-calibration of delta parallel robots with elastic deformation compensation

Écorchard, Gaël; Maurine, Patrick

doi:10.1109/iros.2005.1545024

Cited by 20 publications

(11 citation statements)

References 10 publications

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“…This makes it compatible with calibration issues [14]. However, the calculation of the platform situation for redundant PKMs cannot be achieved in a similar manner as for non-redundant PKMs because it involves an over-determined equation system [15]. The number of loop-closure equations is greater than the platform's degree of freedom.…”

Section: Methods Descriptionmentioning

confidence: 99%

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Écorchard

Neugebauer

Maurine

2010

Mechanism and Machine Theory

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To cite this version:Gaël Ecorchard, Reimund Neugebauer, Patrick Maurine. Elasto-geometrical modeling and calibration of redundantly actuated PKMs. Mechanism and Machine Theory, Elsevier, 2010, 45 (5) AbstractRedundantly actuated Parallel Kinematic Machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strains in their structure. This makes it difficult to identify the geometrical errors of their structure without taking into account the effects of the elastic deformations. The main originality of this work is to propose an efficient elasto-geometrical and calibration method that allows the identification of both the geometrical and stiffness parameters of redundantly actuated parallel mechanisms with slender links. The first part of the paper explains the proposed method through its application on a simple redundant planar mechanism. The second part deals with its experimental application to the redundant Scissors Kinematic Machine.

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Section: Methods Descriptionmentioning

confidence: 99%

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Écorchard

Neugebauer

Maurine

2010

Mechanism and Machine Theory

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“…The calibration is done by utilizing the redundancy sensor information, sampling over the workspace, and optimizing a cost function. Ecorchard and Maurine (2005) proposed a geometrical self-calibration method for the Delta robot with compensation of the non-geometrical gravity effects, by using redundant sensors on its kinematic structure. For the HEXA parallel robot, Last et al, 2005b reported a technique to calibrate the structure by means of redundant angular sensors added to its passive joints.…”

Section: Approach Of Redundant Sensorsmentioning

confidence: 99%

Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey

Hernández-Martínez

López-Cajún

Jáuregui-Correa³

2010

IIT

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Some of the main investigations on calibration methods of parallel mechanisms are briefly discussed in this work. Initially, the identification of errors in these structures applied to machine tools is presented, later the kinematics and the concept of parallel mechanisms calibration is introduced. Additionally, the main characteristics of the existing methods of calibration are discussed, such as the parametrical approaches, the calibration methods with internal/external measuring devices, innovative calibration methods and works that provide assistance to this aim.Keywords: Parallel mechanisms, calibration, machine tools, inverse kinematics, forward kinematics. Resumen

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“…This accuracy, however, relies on a robust and accurate calibration, which is a difficult problem both from a theoretical and a practical point of view, even if it may be performed off-line. Robot accuracy can be affected by increasing backlash due to robot operation, thermal effects, elements deformation [2], robot control and manufacturing errors. In order to calibrate a robot, there exist a wide variety of methods (even hybrid calibration methods), but in general, it is possible to classify different calibration strategies in three main groups (by considering the location of measurement instruments and its additional elements): External calibration, it is based on measurements of the positions of the end effector (or other structural element) of the robot by means of an external instrument.…”

Section: Introductionmentioning

confidence: 99%

A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object

Traslosheros

Sebastián

Castillo

et al. 2011

2011 15th International Conference on Advanced Robotics (ICAR)

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Abstract-The main purpose of robot calibration is the correction of the possible errors in the robot parameters. This paper presents a method for a kinematic calibration of a parallel robot that is equipped with one camera in hand. In order to preserve the mechanical configuration of the robot, the camera is utilized to acquire incremental positions of the end effector from a spherical object that is fixed in the word reference frame. The positions of the end effector are related to incremental positions of resolvers of the motors of the robot, and a kinematic model of the robot is used to find a new group of parameters which minimizes errors in the kinematic equations. Additionally, properties of the spherical object and intrinsic camera parameters are utilized to model the projection of the object in the image and improving spatial measurements. Finally, the robotic system is designed to carry out tracking tasks and the calibration of the robot is validated by means of integrating the errors of the visual controller.

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Self-calibration of delta parallel robots with elastic deformation compensation

Cited by 20 publications

References 10 publications

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Elasto-geometrical modeling and calibration of redundantly actuated PKMs

Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey

A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object

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