Title of article :
Manipulator calibration enhancement by means of mechanical templates
Author/Authors :
M. Leonesio، نويسنده , , G. Bianchi، نويسنده ,
Issue Information :
روزنامه با شماره پیاپی سال 2009
Pages :
3
From page :
1318
To page :
1320
Abstract :
Machines assembly procedures usually make use of some kind of references (for instance mechanical templates, or some kind of artefact, or simply locators holes on machine table) in order to assure a precise end-effector positioning at least in the assembly position (also called, zero position or home position) [R. Ramesh, M.A. Mannan, Error compensation in machine tools – a review. Part I: geometric, cutting-force induced and fixture-dependent errors, International Journal of Machine Tools and Manufacture, 40 (9) (2000), 1235–1256]: then, such an accurate positioning is exploited during the set-up phase to perform actuators offsets compensation. This approach is usually adopted both for manipulators (above all Parallel Kinematic ones) and for Cartesian machine tools. In this short communication, a new calibration strategy is suggested in order to allow the exploitation of assembly positioning accuracy for an advantageous change of error parameters.
Keywords :
calibration , Manipulators , Mechanical templates , Total least squares
Journal title :
Mechanism and Machine Theory
Serial Year :
2009
Journal title :
Mechanism and Machine Theory
Record number :
1164148
Link To Document :
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