Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Robot Kinematics |
| Subtitle of host publication | Analysis and Design |
| Pages | 371-380 |
| Number of pages | 10 |
| Publication status | Published - 1 Dec 2008 |
| Externally published | Yes |
| Event | 2008 11th International Symposium on Advances in Robot Kinematics - Batz-sur-Mer, France Duration: 22 Jun 2008 → 26 Jun 2008 |
Publication series
| Name | Advances in Robot Kinematics |
|---|
Abstract
The positioning accuracy of robotic manipulators can be enhanced by identification and correction of the geometry parameters of the controller model in a way that it best matches the real physical robot. This procedure, denoted as kinematic calibration, is performed by analyzing the difference between conflicting information gained by the kinematic model and corresponding redundant measurement information. Most traditional robot calibration approaches require extra sensors or special constraint fixtures in order to obtain redundancy. This paper proposes a new calibration method that does not require any special calibration equipment, thus being very economical. The presented technique which is designed to be applied to parallel robots is based on a working mode change and incorporates special knowledge about serial singularities. Exemplarily the approach is verified by means of simulation studies on a 3-RRR-structure.
Keywords
- Calibration, Parallel kinematics, Singularity, Working mode
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Human-Computer Interaction
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
Advances in Robot Kinematics: Analysis and Design. 2008. p. 371-380 (Advances in Robot Kinematics).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Parallel robot calibration by working mode change
AU - Last, Philip
AU - Budde, Christoph
AU - Schütz, Daniel
AU - Hesselbach, Jürgen
AU - Raatz, Annika
PY - 2008/12/1
Y1 - 2008/12/1
N2 - The positioning accuracy of robotic manipulators can be enhanced by identification and correction of the geometry parameters of the controller model in a way that it best matches the real physical robot. This procedure, denoted as kinematic calibration, is performed by analyzing the difference between conflicting information gained by the kinematic model and corresponding redundant measurement information. Most traditional robot calibration approaches require extra sensors or special constraint fixtures in order to obtain redundancy. This paper proposes a new calibration method that does not require any special calibration equipment, thus being very economical. The presented technique which is designed to be applied to parallel robots is based on a working mode change and incorporates special knowledge about serial singularities. Exemplarily the approach is verified by means of simulation studies on a 3-RRR-structure.
AB - The positioning accuracy of robotic manipulators can be enhanced by identification and correction of the geometry parameters of the controller model in a way that it best matches the real physical robot. This procedure, denoted as kinematic calibration, is performed by analyzing the difference between conflicting information gained by the kinematic model and corresponding redundant measurement information. Most traditional robot calibration approaches require extra sensors or special constraint fixtures in order to obtain redundancy. This paper proposes a new calibration method that does not require any special calibration equipment, thus being very economical. The presented technique which is designed to be applied to parallel robots is based on a working mode change and incorporates special knowledge about serial singularities. Exemplarily the approach is verified by means of simulation studies on a 3-RRR-structure.
KW - Calibration
KW - Parallel kinematics
KW - Singularity
KW - Working mode
UR - http://www.scopus.com/inward/record.url?scp=84900614728&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84900614728
SN - 9781402085994
T3 - Advances in Robot Kinematics
SP - 371
EP - 380
BT - Advances in Robot Kinematics
T2 - 2008 11th International Symposium on Advances in Robot Kinematics
Y2 - 22 June 2008 through 26 June 2008
ER -