Title :
A calibration procedure for the parallel robot Delta 4
Author :
Maurine, P. ; Dombre, E.
Author_Institution :
LIRMM, Univ. des Sci. et Tech. du Languedoc, Montpellier, France
Abstract :
A two stage calibration method for the parallel robot Delta 4 is presented. It allows one to identify the offsets on the three first joints and the absolute location of the robot base. It involves a cheap displacement sensor and dedicated targets which can be easily moved on the work area. Intensive simulations show the robustness of the protocol and experimental results validate this procedure
Keywords :
calibration; displacement measurement; robots; sensors; 2-stage calibration method; dedicated targets; displacement sensor; parallel robot Delta 4; robustness; Actuators; Calibration; Kinematics; Legged locomotion; Manufacturing; Parallel robots; Protocols; Robot sensing systems; Robustness; Solid modeling;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506835
