Optimal Calibration of Parallel Kinematic Machines

Verner, Marcel; Xi, Fengfeng; Mechefske, Chris

doi:10.1115/1.1828461

Cited by 38 publications

(16 citation statements)

References 10 publications

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“…The resulting constraints are illustrated in Figure 4. This type of arrangement has received considerable attention; for example, a recent issue of this Journal contains three papers on it: calibration in [9], the enumeration of equivalent mechanisms in [10], and dynamics in [11]. We refer to these as a starting point for accessing the literature on this particular mechanism.…”

Section: Motivating Examplesmentioning

confidence: 99%

On a Rigid Body Subject to Point-Plane Constraints

Wampler

2005

Journal of Mechanical Design

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This paper investigates the location of a rigid body such that N specified points of the body lie on N given planes in space. Variants of this problem arise in kinematics, metrology, and computer vision, including some, such as the motion of a spherical four-bar, that are not at first glance point-plane contact problems. The case N = 6, the minimum number to fully constrain the body, is of special interest: we give an eigenvalue method for finding all solutions, which may number up to eight. For N ≥ 7 there are, in general, no solutions, but if the constraints are compatible and not degenerate, we show how to find the unique solution by a linear least-squares method. For N ≤ 5, the body is underconstrained, having in general 6 − N degrees of freedom; we determine the degree of the general motion for each case. We also examine the workspace of a particular three-degree-of-freedom parallel-link tripod mechanism.

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Section: Motivating Examplesmentioning

confidence: 99%

On a Rigid Body Subject to Point-Plane Constraints

Wampler

2005

Journal of Mechanical Design

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“…By the way this method can only be applied if the machine is properly calibrated and if all the machine components are realized respecting very strict tolerances; otherwise the estimation of the pose of the mobile platform would be erroneous. If these requirements cannot be met, it is necessary to use specific measurements devices like CMM or 3D positioning systems as the ones described in [32,33]. Furthermore 6-DoF PKM robot has complex dynamics without an analytical solution made more complex by the nonlinearity of the actuation systems.…”

Section: Control Of the Hexaglidementioning

confidence: 99%

Error Analysis and Adaptive-Robust Control of a 6-DoF Parallel Robot with Ball-Screw Drive Actuators

Negahbani

Giberti

Fiore

2016

Journal of Robotics

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Parallel kinematic machines (PKMs) are commonly used for tasks that require high precision and stiffness. In this sense, the rigidity of the drive system of the robot, which is composed of actuators and transmissions, plays a fundamental role. In this paper, ball-screw drive actuators are considered and a 6-degree of freedom (DoF) parallel robot with prismatic actuated joints is used as application case. A mathematical model of the ball-screw drive is proposed considering the most influencing sources of nonlinearity: sliding-dependent flexibility, backlash, and friction. Using this model, the most critical poses of the robot with respect to the kinematic mapping of the error from the joint- to the task-space are systematically investigated to obtain the workspace positional and rotational resolution, apart from control issues. Finally, a nonlinear adaptive-robust control algorithm for trajectory tracking, based on the minimization of the tracking error, is described and simulated.

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“…The topic of parameter identification involves numerical methods, which has been studied in depth for a number of years by many researchers. Examination of the literature on robot calibration indicates that a variety of numerical methods have been employed to identify geometric and non-geometric parameters of pure-serial [2] or pure-parallel [3] manipulators. Very few of publications are focused on the calibration of hybrid robot [4].…”

Section: Introductionmentioning

confidence: 99%