Kinematic calibration of Delta robot using distance measurements

被引：33

作者：

Bai, Pujun ^{[1
]}

Mei, Jiangping ^{[1
]}

Huang, Tian ^{[1
]}

Chetwynd, Derek G. ^{[2
]}

机构：

[1] Tianjin Univ, State Minist Educ, Key Lab Mech Theory & Equipment Design, 92 Weijin Rd, Tianjin 300072, Peoples R China

[2] Univ Warwick, Sch Engn, Coventry CV4 7AL, W Midlands, England

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE | 2016年 / 230卷 / 03期

基金：

中国国家自然科学基金;

关键词：

Delta robot; geometric error modeling; kinematic calibration; PARALLEL;

D O I：

10.1177/0954406215603739

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper deals with kinematic calibration of the Delta robot using distance measurements. The work is mainly placed upon: (1) the error modeling with a goal to classify the source errors affecting both the compensatable and uncompensatable pose accuracy; (2) the full/partial source error identification using a set of distance measurements acquired by a laser tracker; and (3) design of a linearized compensator for real-time error compensation. Experimental results on a prototype show that positioning accuracy of the robot can significantly be improved by the proposed approach.

引用

页码：414 / 424

页数：11

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