Vision-based kinematic calibration of a H4 parallel mechanism

Abstract

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. With a precision of the order of magnitude of 0.2mm and 0.03 • , our vision system allowed us to obtain a final positioning accuracy of the end-effector lower than 0.5mm. Conclusions are given on the use of a vision-based measuring device for the calibration of this class of mechanisms.

Autonomous robot calibration using vision technology

“…Traditionally, vision-based robot calibration methods require the precise 3D fixtures measured in a reference coordinate system [8][9][10][11]. This measurement procedure is inconvenient, time consuming and it may not be feasible in certain applications due to the lack of high-accuracy measuring devices.…”

A Novel 4-DOF Parallel Manipulator H4

“…But numerous problems still remain open, especially the positioning accuracy of the end-effector. From the paper written by Renaud et al (Renaud et al, 2003), the positioning accuracy of a H4 can only reach lower than 0.5mm, which cannot meet the requirements (generally lower than 0.05mm) of the semiconductor end-package equipments. We hope that this chapter will arise some attention to extend this type of parallel manipulators to semiconductor industry.…”

Active robot calibration algorithm

“…[4], [18] used the DETMAX algorithm in optimal experimental design to select robot poses. [6] used a GA algorithm to generate new poses.…”

“…Past research in kinematic calibration has adapted optimal design algorithms from the experimental design literature for pose selection [7], [18], [20], [13], [14], [6], [5]. The algorithms are often iterative algorithms using exchange schemes.…”