Title :
Auto-calibration for a parallel manipulator with sensor redundancy
Author :
Yiu, Y.K. ; Meng, J. ; Li, Z.X.
Author_Institution :
Dept. of EEE, Hong Kong Univ. of Sci. & Technol., Kowloon, China
Abstract :
In this paper, we propose two algorithms for the auto-calibration of the home position or the joint angle offsets for a parallel manipulator by utilizing the extra sensor(s) information (sensor redundancy), sampling over the workspace, and optimizing a suitably chosen cost function, without resorting to any other external equipment. Meanwhile, a measure or estimate of the precision of the machine is also obtained. It is very useful and convenient if the machine needs frequent re-calibration. Simulations and experiments are also performed to show the effectiveness of the algorithms.
Keywords :
calibration; manipulators; optimisation; redundancy; sensors; autocalibration; cost function; joint angle offsets; machine precision estimate; optimization; parallel manipulator; recalibration; sampling; sensor information; sensor redundancy; Calibration; Computational modeling; Coordinate measuring machines; Cost function; Kinematics; Manipulators; Mechanical sensors; Redundancy; Sampling methods; Sensor systems;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242158
