ON THE IMPROVEMENT OF CALIBRATION ACCURACY OF PARALLEL ROBOTS - MODELING AND OPTIMIZATION

被引：11

作者：

Bentaleb, Toufik ^{[1
]}

Iqbal, Jamshed ^{[2
,3
]}

机构：

[1] Univ Valenciennes, Control Dept, LAMIH UMR CNRS 8201, Lab Ind & Human Automat Control Mech Engn & Comp, Valenciennes, France

[2] Univ Jeddah, Coll Engn, Dept Elect & Elect Engn, Jeddah, Saudi Arabia

[3] FAST Natl Univ, Dept Elect Engn, Islamabad, Pakistan

来源：

JOURNAL OF THEORETICAL AND APPLIED MECHANICS | 2020年 / 58卷 / 01期

关键词：

robot calibration; error analysis; parallel robots; kinematic; modelling; MANIPULATOR;

D O I：

10.15632/jtam-pl/115863

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

This paper proposes kinematic based calibration methods for Delta parallel robots. The boundary of the robot workspace is computed using a forward kinematic model. Influence of errors in kinematic parameters on the workspace boundaries is investigated. The novelty of the proposed approach lies in Jacobian-based computation of kinematic models. Also, the present work extends and applies the existing calibration methods traditionally meant for serial robots on the Delta robot. These methods include the forward method and the inverse method. Simulation results confirm the efficacy of the proposed calibration strategies.

引用

页码：261 / 272

页数：12

共 23 条

[1] Optimal and Robust Control of Multi DOF Robotic Manipulator: Design and Hardware Realization [J].

Ajwad, Syed Ali ;

Iqbal, Jamshed ;

Ul Islam, Raza ;

Alsheikhy, Ahmed ;

Almeshal, Abdullah ;

Mehmood, Adeel .

CYBERNETICS AND SYSTEMS, 2018, 49 (01) :77-93

[2] Nonlinear Control of a Flexible Joint Robotic Manipulator with Experimental Validation [J].

Alam, Waqar ;

Mehmood, Adeel ;

Ali, Khurram ;

Javaid, Usman ;

Alharbi, Soltan ;

Iqbal, Jamshed .

STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING, 2018, 64 (01) :47-55

[3] Estimation-based ILC applied to a parallel kinematic robot [J].

Axehill, Johanna Wallen ;

Dressler, Isolde ;

Gunnarsson, Svante ;

Robertsson, Anders ;

Norrlof, Mikael .

CONTROL ENGINEERING PRACTICE, 2014, 33 :1-9

[4]

Bai P., 2015, J MECH ENG SCI, V230, P414

[5]

Bentaleb T., 2007, 18 FRENCH C FRENCH M, P1

[6]

Bentaleb Toufik, 2015, INT J MECH ROBOTIC S, V2, P295

[7]

Besnard S, 2001, IEEE INT CONF ROBOT, P2859, DOI 10.1109/ROBOT.2001.933055

[8]

Da-Yong Yu, 2008, 2008 IEEE International Conference on Mechatronics and Automation (ICMA2008), P750, DOI 10.1109/ICMA.2008.4798850

[9] Calibration of a parallel mechanism in a serial-parallel polishing machine tool based on genetic algorithm [J].

Fan, Cheng ;

Zhao, Guoliang ;

Zhao, Ji ;

Zhang, Lei ;

Sun, Lining .

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2015, 81 (1-4) :27-37

[10] Inverse and direct dynamic models of hybrid robots [J].

Ibrahim, Ouarda ;

Khalil, Wisama .

MECHANISM AND MACHINE THEORY, 2010, 45 (04) :627-640

← 1 2 3 →