Kinematic calibration of parallel robots for docking mechanism motion simulation

Author

Yu, Dayong

Author_Institution

Harbin Eng. Univ., Harbin

fYear

2008

fDate

5-8 Aug. 2008

Firstpage

1079

Lastpage

1084

Abstract

A new method for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking mechanism motion simulator. To implement this method, a calibration equation is built by generating the constraint conditions of the end-effector´s motion in the workspace using a three-dimensional coordinate measuring machine. According to the established calibration equation and the simulation, the geometrical parameters of the parallel robot are identified. The effectiveness of the calibration method with a coordinate measuring machine is verified through random pose test experiment.

Keywords

aerospace control; coordinate measuring machines; end effectors; motion control; robot kinematics; 3D coordinate measuring machine; calibration equation; docking mechanism motion simulation; end-effector motion; parallel robots kinematic calibration; spacecraft docking mechanism; Calibration; Coordinate measuring machines; Equations; Leg; Mechatronics; Medical robotics; Parallel robots; Robot kinematics; Robotics and automation; Space vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4244-2631-7

Electronic_ISBN

978-1-4244-2632-4

Type

conf

DOI

10.1109/ICMA.2008.4798908

Filename

4798908