Title :
Kinematic Calibration of Parallel Robots Using CMM
Author :
Cong, Dacheng ; Yu, Dayong ; Han, Junwei
Author_Institution :
Sch. Mech. & Electron. Eng., Harbin Inst. of Technol.
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;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713640
