Title :
Self-calibration of parallel manipulators using an orientation constraint
Author :
Ren, Xiao-Dong ; Feng, Zu-Ren ; Su, Cheng-Ping
Author_Institution :
State Key Lab. of Manuf. Syst. Eng., Xi´´an Jiaotong Univ., Xi´´an
Abstract :
A self-calibration method for parallel manipulators is presented with its main idea of keeping two attitude angles of the end-effector constant. The orientation constraint is realized physically by levelling a commercial biaxial inclinometer installed on the end-effector through an active adjusting mode. The used measurement configurations are optimized to reduce the influence of sensor noise on calibration, and the effectiveness of the proposed method is verified by simulation results.
Keywords :
attitude control; calibration; end effectors; active adjusting mode; attitude angle; biaxial inclinometer; end-effector constant; orientation constraint; parallel manipulator; self-calibration method; Actuators; Calibration; Kinematics; Laboratories; Manufacturing systems; Modeling; Noise measurement; Noise reduction; Optimization methods; Systems engineering and theory; configuration optimization; orientation constraint; parallel manipulators; self-calibration;
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
DOI :
10.1109/ICIEA.2009.5138727
