Experimental kinematic calibration of parallel manipulators using a relative position error measurement system

Abtahi, Mansour; Pendar, Hodjat; Alasty, Aria; Vossoughi, Gholamreza

doi:10.1016/j.rcim.2010.05.007

Cited by 40 publications

(13 citation statements)

References 13 publications

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“…Commonly geometric error calibration methods include external calibration, constraint calibration and self-calibration. The external calibration method [11][12][13] directly measures the pose of the mechanism through external precision measuring equipment, and then identifies the geometric parameters of the moving platform. However, it has several disadvantages such as low calibration efficiency, high cost, and poor external anti-interference ability, etc.…”

Section: Introductionmentioning

confidence: 99%

“…Compared with the external calibration method, the constraint calibration method is relatively simple to operate and does not require expensive external measuring equipment, but it restricts the mechanical part motion characteristics, which makes it difficult to identify all kinematic parameters. The self-calibration method [11,14,17] of measuring equipment is used by the extra redundant information of the moving platform to identify its geometric parameters. However, the design of a measurement method for redundant information is needed, and all geometric parameters are hard to be identified.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic accuracy analysis of a 5PSS/UPU parallel mechanism based on rigid-flexible coupled modeling

Wang

Chen

et al. 2020

Preprint

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In order to improve the low output accuracy caused by the elastic deformations of the branch chains, a finite element-based dynamic accuracy analysis method for parallel mechanisms is proposed in this paper. First, taking a 5–prismatic–spherical–spherical (PSS)/universal–prismatic–universal (UPU) parallel mechanism as an example, the error model is established by a closed vector chain method while its influence on the dynamic accuracy of the parallel mechanism is analyzed through numerical calculation and simulation. According to the structural and error characteristics of the parallel mechanism, a vector calibration algorithm is proposed to reduce the position and pose errors along the whole motion trajectory. Then, considering the elastic deformation of the rod, the rigid-flexible coupling dynamic equations of the mechanism are established by combining the finite element method with the Lagrange method, and the equations are vectorially superimposed by means of internal force cancellation to synthesize the elastic dynamics equation of the connecting rod. Based on the constraint condition of each moving part, the elastodynamic model of the whole machine is obtained. Furthermore, the effect of component flexibility on the dimensionless root mean square error of the displacement, velocity and acceleration of the moving platform is investigated by using a Newmark method, and the dynamic accuracy influenced by these dimensionless root mean square errors is further studied. The research work establishes an important theoretical foundation for the development of the prototype.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic accuracy analysis of a 5PSS/UPU parallel mechanism based on rigid-flexible coupled modeling

Wang

Chen

et al. 2020

Preprint

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“…In robot calibration, there exists a number of techniques that differ in the measurement equipment, the nature of the experimental data (position, orientation, distance, etc.) and in the opti-mization algorithm that produces the desired parameters [19][20][21][22][23][24][25][26][27][28]. At present, the most popular are the so-called open-loop methods that utilize external measurement devices to obtain either a full or partial pose 1 of the end-effector (i.e.…”

Section: Introductionmentioning

confidence: 99%

“…At present, the most popular are the so-called open-loop methods that utilize external measurement devices to obtain either a full or partial pose 1 of the end-effector (i.e. position and/or orientation) [22][23][24][25][26][27][28]. However, it should be noted that the manipulator end-effector orientation cannot be measured directly, so the orientation angles are calculated using positions of several points around the end-effector center point (TCP).…”

Section: Introductionmentioning

confidence: 99%

Geometric and elastostatic calibration of robotic manipulator using partial pose measurements

Klimchik

Caro

et al. 2014

Advanced Robotics

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International audienceThe paper deals with geometric and elastostatic calibration of robotic manipulator using partial pose measurements, which do not provide the end-effector orientation. The main attention is paid to the efficiency improvement of identification procedure. In contrast to previous works, the developed calibration technique is based on the direct measurements only. To improve the identification accuracy, it is proposed to use several reference points for each manipulator configuration. This allows avoiding the problem of non-homogeneity of the least-square objective, which arises in the classical identification technique with the full-pose information (position and orientation). Its efficiency is confirmed by the comparison analysis, which deals with the accuracy evaluation of different identification strategies. The obtained theoretical results have been successfully applied to the geometric and elastostatic calibration of serial industrial robot employed in a machining work-cell for aerospace industry

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“…Recently, research interests shifted to the optimization of calibration algorithm 16,17 and improvement of measurement methods. [18][19][20][21] However, there appears to have been no research on calibration of HMTs by using a bridge-type three coordinate measuring machine (CMM) since it is quite a complex process.…”

Section: Introductionmentioning

confidence: 99%

Calibration of a small size hexapod machine tool using coordinate measuring machine

Zhang

2014

Proceedings of the Institution of Mechanical Engineers, Part E:

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Hexapod machine tool (HMT) is a device designed for micro milling; however, the deviations of the HMT's kinematic parameters due to manufacture and assembly errors can definitely affect its running accuracy. To identify the real kinematic parameters so as to improve the running accuracy of the HMT, a novel calibration test was performed on a bridge-type coordinate measuring machine. In the present research, a mathematical model was derived to present the relationship between pose errors and the errors of kinematic parameters of the HMT, the measurement method based on coordinate measuring machine was designed and a calibration experiment was carried out subsequently. The experimental results reveal that after calibration, both the position errors and orientation errors of the HMT decreased significantly, the symmetrical errors were improved as well. In addition, it is found that the running accuracy of the HMT is running direction dependent, which depends on the HTM's structures. The present research provides researchers with a new and effective calibration method to improve the running accuracy of HMTs.

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Experimental kinematic calibration of parallel manipulators using a relative position error measurement system

Cited by 40 publications

References 13 publications

Dynamic accuracy analysis of a 5PSS/UPU parallel mechanism based on rigid-flexible coupled modeling

Dynamic accuracy analysis of a 5PSS/UPU parallel mechanism based on rigid-flexible coupled modeling

Geometric and elastostatic calibration of robotic manipulator using partial pose measurements

Calibration of a small size hexapod machine tool using coordinate measuring machine

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