Details
| Original language | English |
|---|---|
| Title of host publication | Advances in Robot Kinematics |
| Subtitle of host publication | Analysis and Design |
| Publisher | Springer Netherlands |
| Pages | 371-380 |
| Number of pages | 10 |
| ISBN (print) | 9781402049408 |
| Publication status | Published - 1 Dec 2006 |
| Externally published | Yes |
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
- Engineering(all)
- General Engineering
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Advances in Robot Kinematics: Analysis and Design. Springer Netherlands, 2006. p. 371-380.
Research output: Chapter in book/report/conference proceeding › Contribution to book/anthology › Research › peer review
}
TY - CHAP
T1 - Parallel robot calibration by working mode change
AU - Last, Philipp
AU - Budde, Christoph
AU - Schütz, Daniel
AU - Hesselbach, Jürgen
AU - Raatz, Annika
PY - 2006/12/1
Y1 - 2006/12/1
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=84856536331&partnerID=8YFLogxK
U2 - 10.1007/978-1-4020-8600-7_39
DO - 10.1007/978-1-4020-8600-7_39
M3 - Contribution to book/anthology
AN - SCOPUS:84856536331
SN - 9781402049408
SP - 371
EP - 380
BT - Advances in Robot Kinematics
PB - Springer Netherlands
ER -