Title :
Kinematic calibration of parallel robots based on least squares algorithm
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin
Abstract :
In the application of parallel robots, it is necessary to calibrate the kinematic parameters and improve the pose accuracy for accurate task performance. To do so, an error model is developed that takes into consideration all the kinematic parameter errors due to imprecision manufacturing and assembly. On the basis of the error model and the experimental data for the accuracy of the parallel robot, a least squares algorithm is proposed and tested. Simulations and experiments are presented to show the effectiveness of the proposed method.
Keywords :
calibration; least squares approximations; robot kinematics; accurate task performance; error model; kinematic calibration; kinematic parameters; least squares algorithm; parallel robots; pose accuracy; Actuators; Calibration; Cybernetics; Error correction; Kinematics; Least squares methods; Leg; Machine learning; Parallel robots; Virtual manufacturing; Error modeling; Kinematic calibration; Least squares algorithm; Parallel robot; Pose accuracy;
Conference_Titel :
Machine Learning and Cybernetics, 2008 International Conference on
Conference_Location :
Kunming
Print_ISBN :
978-1-4244-2095-7
Electronic_ISBN :
978-1-4244-2096-4
DOI :
10.1109/ICMLC.2008.4620738
