Design and kinematic analysis of the wire parallel mechanism for a robot pose measurement

Author

Jeong, Jae-Won ; Kim, Soo-Hyun ; Kwak, Yoon-Keun

Author_Institution

Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

4

fYear

1998

fDate

16-20 May 1998

Firstpage

2941

Abstract

This paper presents a wire parallel mechanism designed and manufactured for a robot pose measurement which can be used for a robot calibration. It consists of six parallel links using wires. The position and orientation of a robot are obtained from the wire lengths measured in the wire parallel mechanism. The complex nonlinear equations of the forward kinematics of a parallel mechanism are solved by using the numerical method (Newton-Raphson method), and the unique solution is determined from a geometric configuration of the designed mechanism. Through the experiments, it is verified that the developed mechanism can measure a full pose of a robot and has an accuracy of ±0.05 mm, ±0.1° in the position and orientation, respectively. In conclusion, it can be used effectively for measuring of a robot pose with low cost and effort

Keywords

Newton-Raphson method; calibration; kinematics; manipulators; measurement systems; nonlinear equations; spatial variables measurement; Newton-Raphson method; complex nonlinear equations; forward kinematics; geometric configuration; kinematic analysis; numerical method; robot calibration; robot pose measurement; wire parallel mechanism; Calibration; Costs; Kinematics; Length measurement; Newton method; Nonlinear equations; Parallel robots; Position measurement; Pulp manufacturing; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680740

Filename

680740