Calibration of a 2-DOF planar parallel robot: Home position identification and experimental verification

被引：0
|
作者：
Ding, Qingyong [1 ]
Sun, Lining [1 ]
Ji, Junhong [1 ]
Zhang, Lemin [1 ]
机构：
[1] Harbin Inst Technol, Inst Robot, Harbin 150001, Peoples R China
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONS, VOLS 1-4, CONFERENCE PROCEEDINGS | 2005年
关键词：
planar parallel robot; calibration; iterative method; nonlinear regression;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99 mm to less than 0.1 mm.
引用
收藏
页码：510 / 515
页数：6
相关论文
共 50 条
  • [1] Experimental verification of antagonistic stiffness planning for a 2-DOF planar parallel manipulator
    Lee, Sungcheul
    In, Woosung
    Kim, Sitai
    Jeong, Jay I.
    Kim, Jongwon
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 291 - 296
  • [2] Structure optimization of a novel 2-DOF planar parallel robot
    Sun, Li-Ning
    Chu, Zhong-Yi
    Qu, Dong-Sheng
    Cui, Jing
    Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2004, 36 (03): : 277 - 280
  • [3] Optimal kinematic design of a 2-DOF planar parallel robot
    Sun, LN
    Ding, QY
    Liu, XY
    2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2004, : 225 - 230
  • [4] Reliable home error identification of a 2-DOF parallel robot based on regularization methods
    Mei, Jiangping
    Zang, Jiawei
    Ding, Yabin
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2019, 233 (07) : 2502 - 2515
  • [5] Analysis of the Position and Workspace of a Redundancy 2-DOF Parallel Robot
    Zhu Caihong
    Zhang Hongtao
    PROCEEDINGS OF 2008 INTERNATIONAL CONFERENCE ON INFORMATIONIZATION, AUTOMATION AND ELECTRIFICATION IN AGRICULTURE, 2008, : 230 - +
  • [6] Experimental verification of antagonistic stiffness planning for a planar parallel mechanism with 2-DOF force redundancy
    Lee, Sungcheul
    Kim, Sitae
    In, Woosung
    Kim, Moonki
    Jeong, Jay I.
    Kim, Jongwon
    ROBOTICA, 2011, 29 : 547 - 554
  • [7] Calibration of 2-DOF parallel mechanism
    Sato, O
    Hiraki, M
    Takamasu, K
    Ozono, S
    INITIATIVES OF PRECISION ENGINEERING AT THE BEGINNING OF A MILLENNIUM, 2001, : 734 - 738
  • [8] Kinematic calibration and forecast error compensation of a 2-DOF planar parallel manipulator
    Hi-tech Innovation Center, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
    不详
    Chin J Mech Eng Engl Ed, 1600, 6 (992-998):
  • [9] Kinematic Calibration and Forecast Error Compensation of a 2-DOF Planar Parallel Manipulator
    Chang Peng
    Li Chengrong
    Li Tiemin
    CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2011, 24 (06) : 992 - 998
  • [10] Kinematic Calibration and Forecast Error Compensation of a 2-DOF Planar Parallel Manipulator
    CHANG Peng1
    revised January 7
    accepted June 30
    published electronically July 28
    Chinese Journal of Mechanical Engineering, 2011, 24 (06) : 992 - 998
12345