Details
| Original language | English |
|---|---|
| Title of host publication | ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008 |
| Pages | 1277-1284 |
| Number of pages | 8 |
| Edition | PARTS A AND B |
| Publication status | Published - 1 Dec 2008 |
| Externally published | Yes |
| Event | ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008 - Brooklyn, NY, United States Duration: 3 Aug 2008 → 6 Aug 2008 |
Publication series
| Name | Proceedings of the ASME Design Engineering Technical Conference |
|---|---|
| Number | PARTS A AND B |
| Volume | 2 |
Abstract
Model based geometric calibration is well known to be an efficient way to enhance absolute accuracy of robotic systems. Generally its application requires redundant measurements, which are achieved by external metrology equipment in most traditional calibration techniques. However, these methods are usually time-consuming, expensive and inconvenient. Thus, so-called self-calibration methods have achieved attention from researchers, which either use internal sensors or rely on mechanical constraints instead. In this paper a new self-calibration technique is presented for parallel robots which is motivated by the idea of constrained calibration. The new approach utilizes a special machine component called the adaptronic swivel joint in order to achieve the required redundant information. Compared to similar approaches it offers several advantages. The new calibration scheme is described and verified in simulation studies using a RRRRR-structure as an example.
ASJC Scopus subject areas
- Mathematics(all)
- Modelling and Simulation
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Science Applications
- Computer Science(all)
- Computer Graphics and Computer-Aided Design
Cite this
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ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008. PARTS A AND B. ed. 2008. p. 1277-1284 (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2, No. PARTS A AND B).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Parallel robot calibration utilizing adaptronic joints
AU - Last, Philipp
AU - Raatz, Annika
AU - Hesselbach, Jürgen
AU - Pavlovic, Nenad
AU - Keimer, Ralf
PY - 2008/12/1
Y1 - 2008/12/1
N2 - Model based geometric calibration is well known to be an efficient way to enhance absolute accuracy of robotic systems. Generally its application requires redundant measurements, which are achieved by external metrology equipment in most traditional calibration techniques. However, these methods are usually time-consuming, expensive and inconvenient. Thus, so-called self-calibration methods have achieved attention from researchers, which either use internal sensors or rely on mechanical constraints instead. In this paper a new self-calibration technique is presented for parallel robots which is motivated by the idea of constrained calibration. The new approach utilizes a special machine component called the adaptronic swivel joint in order to achieve the required redundant information. Compared to similar approaches it offers several advantages. The new calibration scheme is described and verified in simulation studies using a RRRRR-structure as an example.
AB - Model based geometric calibration is well known to be an efficient way to enhance absolute accuracy of robotic systems. Generally its application requires redundant measurements, which are achieved by external metrology equipment in most traditional calibration techniques. However, these methods are usually time-consuming, expensive and inconvenient. Thus, so-called self-calibration methods have achieved attention from researchers, which either use internal sensors or rely on mechanical constraints instead. In this paper a new self-calibration technique is presented for parallel robots which is motivated by the idea of constrained calibration. The new approach utilizes a special machine component called the adaptronic swivel joint in order to achieve the required redundant information. Compared to similar approaches it offers several advantages. The new calibration scheme is described and verified in simulation studies using a RRRRR-structure as an example.
UR - http://www.scopus.com/inward/record.url?scp=81155127401&partnerID=8YFLogxK
U2 - 10.1115/DETC2008-49918
DO - 10.1115/DETC2008-49918
M3 - Conference contribution
AN - SCOPUS:81155127401
SN - 9780791843260
T3 - Proceedings of the ASME Design Engineering Technical Conference
SP - 1277
EP - 1284
BT - ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
T2 - ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008
Y2 - 3 August 2008 through 6 August 2008
ER -