Kinematic calibration of parallel robots for docking mechanism motion simulation

Author

Yu, Dayong ; Sun, Xiwei ; Liu, Sheng

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3927

Lastpage

3932

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

end effectors; manipulator kinematics; motion control; space vehicles; calibration equation; parallel robots kinematic calibration; spacecraft docking mechanism motion simulator; three dimensional coordinate measuring machine; Calibration; Coordinate measuring machines; Equations; Leg; Mechatronics; Medical robotics; Parallel robots; Robot kinematics; Robotics and automation; Space vehicles; Accuracy; Kinematic Calibration; Optimum Pose; Parallel Robot; Parameter estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5244880

Filename

5244880