Title :
Self-calibration of delta parallel robots with elastic deformation compensation
Author :
Ecorchard, Gaëel ; Maurine, Patrick
Author_Institution :
Lab. G.C.G.M., Inst. Nat. des Sci. Appliquees, Rennes, France
Abstract :
A new geometrical self-calibration method for delta parallel robots with compensation of the non-geometrical gravity effects is proposed. It allows a quick and easy enhancement of the robot positioning accuracy through the implementation of redundant sensors on its structure. After the theoretical aspects of the method, simulations are presented and compared to the experimental results.
Keywords :
calibration; elastic deformation; position control; robots; sensors; delta parallel robot; elastic deformation compensation; nongeometrical gravity effect; redundant sensor; robot positioning; self-calibration; Calibration; Gravity; Laboratories; Manipulators; Mobile robots; Parallel robots; Position measurement; Robot kinematics; Robot sensing systems; Service robots; accuracy of parallel robots; elastic deformations; self-calibration;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545024
