Title :
Kinematic calibration of parallel robots
Author :
Yu, Dayong ; Han, Junwei
Author_Institution :
Sch. of Mech. & Electron. Eng., Harbin Inst. of Technol., China
Abstract :
A new algorithm for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking simulator. To implement this algorithm, a calibration equation is built by generating the constraint conditions of the end-effector´s motion in the workspace using a three-dimensional coordinate measuring machine. These measurement data are used to identify the parameters of the calibration equation resulting in an accuracy improvement of RMS (root mean squares errors) a factor of 2.7 for the position and a factor of 3.9 for the orientation.
Keywords :
calibration; end effectors; manipulator kinematics; space vehicles; calibration equation; docking simulator; end-effector; kinematic calibration; parallel robots; root mean squares errors; three-dimensional coordinate measuring machine; Aerospace electronics; Aerospace engineering; Calibration; Coordinate measuring machines; Equations; Medical robotics; Parallel robots; Robot kinematics; Space technology; Space vehicles;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626602
