Title :
Calibration of a parallel robot using multiple kinematic closed loops
Author :
Nahvi, Ali ; Hollerbach, John M. ; Hayward, Vincent
Author_Institution :
Biorobotics Lab., McGill Univ., Montreal, Que., Canada
Abstract :
A method is presented for autonomous kinematic calibration of a 3-DOF redundant parallel robot. Multiple closed loops are used in a least squares optimization method. Ill-conditioning, column scaling of the gradient matrix, and observability indices for the best pose set of robot calibration configurations are discussed. Experimental results are presented and compared with the results using an external calibration device
Keywords :
calibration; closed loop systems; kinematics; least squares approximations; observability; robots; 3-DOF redundant parallel robot; autonomous kinematic calibration; column scaling; gradient matrix; ill-conditioning; least-squares optimization method; multiple kinematic closed loops; observability indices; robot calibration configurations; Calibration; Hydraulic actuators; Intelligent robots; Laboratories; Least squares methods; Machine intelligence; Parallel robots; Prototypes; Robot kinematics; Shoulder;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351262
