Kinematic Calibration of Parallel Robots Using CMM

Author

Cong, Dacheng ; Yu, Dayong ; Han, Junwei

Author_Institution

Sch. Mech. & Electron. Eng., Harbin Inst. of Technol.

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8514

Lastpage

8518

Abstract

A new method for calibrating parallel robots is proposed. It requires measurements of all legs and the pose information provided by coordinate measuring machine. Nonlinear least squares is employed to determine the kinematic parameters. The parameters of the measurement errors in the leg sensors are considered during kinematic modeling and parameter identification program. Experimental results presented demonstrate that the root mean square pose error can be improved at 80% with the 48 identified parameters

Keywords

calibration; coordinate measuring machines; least squares approximations; mean square error methods; nonlinear equations; parameter estimation; robot kinematics; coordinate measuring machine; error modeling; kinematic calibration; kinematic modeling; nonlinear least squares; parallel robots; parameter identification; pose information; root mean square pose error; Calibration; Coordinate measuring machines; Least squares methods; Leg; Measurement errors; Parallel robots; Parameter estimation; Robot kinematics; Root mean square; Vehicles; Parallel robot; error modeling; kinematic calibration; parameter identification;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713640

Filename

1713640