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Complete parameter identification of parallel manipulators with partial pose information using a new measurement device

Published online by Cambridge University Press:  15 November 2004

Abdul Rauf ,
Sung-Gaun Kim  and
Jeha Ryu
Abdul Rauf
Affiliation:
Department of Mechatronics, Kwangju Institute of Science and Technology, 1 Oryong-dong, Buk-Gu, Gwangju 500-712 (Republic of Korea) E-mail: [email protected]
Sung-Gaun Kim
Affiliation:
Department of Mechatronics, Kwangju Institute of Science and Technology, 1 Oryong-dong, Buk-Gu, Gwangju 500-712 (Republic of Korea) E-mail: [email protected]
Jeha Ryu
Affiliation:
Department of Mechatronics, Kwangju Institute of Science and Technology, 1 Oryong-dong, Buk-Gu, Gwangju 500-712 (Republic of Korea) E-mail: [email protected]
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Abstract

A new measurement device is proposed for the calibration of parallel manipulators that can be used to indentify all kinematic parameters with partial pose measurements. The device while restricting the motion of the end-effector to five degree-of-freedom measures three components of posture. A study is performed for a six degree-of-freedom fully parallel Hexa Slide Manipulator. Intrinsic inaccuracies of the measurement device are modeled with two additional identification parameters. Computer simulations show that all parameters, including the additional parameters, can be identified. Results show a significant error reduction, even with noisy measurements, and reveal that the identification is robust against errors in initial guess.

Keywords

HexaSlide manipulatorIdentification parametersKinematic calibrationMeasurement devicesParallel robots
Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 689 - 695
Copyright
© 2004 Cambridge University Press

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