Kinematic calibration method for a 5-DOF Gantry-Tau parallel kinematic machine

Author

Tyapin, Ilya ; Hovland, Geir

Author_Institution

Dept. of Eng., Univ. of Agder, Agder, Norway

fYear

2013

fDate

6-10 May 2013

Firstpage

4665

Lastpage

4670

Abstract

In this paper a new step-wise approach to kinematic calibration of a 5-DOF Gantry-Tau parallel kinematic machine (PKM) is presented. The approach can be adapted to the modular design of the PKM and the calibration could easily perform part of the assembly instructions for the machine. By using measurements from a laser tracker and least-squares estimates of polynomial functions, a typical accuracy of about 20 micrometer was achieved for the base actuators. The remaining set of 30 general parameters for the hexapod link structure and spherical joint connections were successfully estimated using the Complex search-based evolutionary algorithm.

Keywords

design engineering; evolutionary computation; least squares approximations; polynomial approximation; robot kinematics; 5-DOF Gantry-Tau parallel kinematic machines; PKM modular design; assembly instructions; base actuators; hexapod link structure; kinematic calibration method; laser tracker; least squares estimation; polynomial functions; search-based evolutionary algorithm; spherical joint connections; Actuators; Calibration; Kinematics; Pins; Polynomials; Robots; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2013 IEEE International Conference on

Conference_Location

Karlsruhe

ISSN

1050-4729

Print_ISBN

978-1-4673-5641-1

Type

conf

DOI

10.1109/ICRA.2013.6631241

Filename

6631241