Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

Details Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

2009-10-30

arxiv.org/abs/0910.5794v1

Parallel Manipulators, New Developments, Jee-Hwan Ryu (Ed.) (2008) 225-240

Computer Science

Robotics

ISBN: 978-3-902613-20-2

Scientific paper

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.

Affiliated with

Also associated with

No associations

Rating

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-89201