Iterative model-based design of the parallel robot, TRIPLANAR

Lückel, J.; Moritz, Tassilo; Kuhlbusch, W.; Toepper, S.; Scharfeld, F.; Maißer, P.; Freudenberg, Heiko; Kallenbach, Eberhard; Zentner, Johannes; Saffert, Eugen

doi:10.1109/aim.2001.936443

Cited by 2 publications

(1 citation statement)

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“…As an application example we have the parallel robot, TRIPLANAR [5], [9], whose configuration, modelling, and calibration will be presented in the following.…”

Section: Introductionmentioning

confidence: 99%

Self-calibration of the 6-DOF parallel robot TRIPLANAR by identification of the geometry parameters

Cinkaya

Münch

Nölle

et al. 2007

2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents a model-based procedure for the self-calibration of the parallel robot, TRIPLANAR, that gets by on just a relatively simple measuring system. The measuring device continuously quantifies the distance between the toolcenter point (T CP ) that is adjustable in all 6 degrees of freedom and a fixed reference point in the inertial coordinate system (ICS). After just one run over a suitable measuring trajectory and recording of the measuring data (distance T CP -ICS and actuator positions) a parameter identification is performed by minimizing the deviation between the measured pose (position and orientation) and the one that was determined from a model. The identified parameters are taken into account in an inverse kinematics model that is used for the feedforward control of the TriPlanar; thus positioning accuracy can be greatly increased.

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“…As an application example we have the parallel robot, TRIPLANAR [5], [9], whose configuration, modelling, and calibration will be presented in the following.…”

Section: Introductionmentioning

confidence: 99%