Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
| Pages | 3943-3949 |
| Number of pages | 7 |
| Publication status | Published - Dec 2007 |
| Externally published | Yes |
| Event | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 29 Oct 2007 → 2 Nov 2007 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|
Abstract
Recently, a sophisticated and advanced strategy for kinematic calibration of parallel manipulators has been reported. The strategy relies on passing type two singularities (i.e., direct kinematic singularities) and is therefore referred to as singularity-based calibration. Within the parameter estimation process, the singularity-based calibration technique requires to solve a so-called singular kinematic problem (SKP). That is, it involves finding the position of one actuator for which the structure is in a singular configuration of type two under the condition that all other actuators are held at known constant positions. So far, this problem could only be solved for some simple manipulators and structure classes with a maximum of three degree of freedom and thereby limiting the applicability of the singularity-based calibration approach. This article contributes a general approach to close this gap making singularity-based calibration widely applicable. The technique will be demonstrated by means of exemplarily chosen parallel kinematic structures.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Software
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
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Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 3943-3949 4399218 (IEEE International Conference on Intelligent Robots and Systems).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - A general approach to solve the singular kinematic problem
AU - Last, Philipp
AU - Raatz, Annika
AU - Carretero, Juan A.
AU - O'Brien, Stephen M.
PY - 2007/12
Y1 - 2007/12
N2 - Recently, a sophisticated and advanced strategy for kinematic calibration of parallel manipulators has been reported. The strategy relies on passing type two singularities (i.e., direct kinematic singularities) and is therefore referred to as singularity-based calibration. Within the parameter estimation process, the singularity-based calibration technique requires to solve a so-called singular kinematic problem (SKP). That is, it involves finding the position of one actuator for which the structure is in a singular configuration of type two under the condition that all other actuators are held at known constant positions. So far, this problem could only be solved for some simple manipulators and structure classes with a maximum of three degree of freedom and thereby limiting the applicability of the singularity-based calibration approach. This article contributes a general approach to close this gap making singularity-based calibration widely applicable. The technique will be demonstrated by means of exemplarily chosen parallel kinematic structures.
AB - Recently, a sophisticated and advanced strategy for kinematic calibration of parallel manipulators has been reported. The strategy relies on passing type two singularities (i.e., direct kinematic singularities) and is therefore referred to as singularity-based calibration. Within the parameter estimation process, the singularity-based calibration technique requires to solve a so-called singular kinematic problem (SKP). That is, it involves finding the position of one actuator for which the structure is in a singular configuration of type two under the condition that all other actuators are held at known constant positions. So far, this problem could only be solved for some simple manipulators and structure classes with a maximum of three degree of freedom and thereby limiting the applicability of the singularity-based calibration approach. This article contributes a general approach to close this gap making singularity-based calibration widely applicable. The technique will be demonstrated by means of exemplarily chosen parallel kinematic structures.
UR - http://www.scopus.com/inward/record.url?scp=51349118192&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399218
DO - 10.1109/IROS.2007.4399218
M3 - Conference contribution
AN - SCOPUS:51349118192
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3943
EP - 3949
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -