Kinematic calibration of the 3-DOF module of a 5-DOF reconfigurable hybrid robot using a double-ball-bar system

被引：16

作者：

Huang, T. ^{[1
]}

Hong, Z. Y. ^{[1
]}

Mei, J. P. ^{[1
]}

Chetwynd, D. G. ^{[2
]}

机构：

[1] Tianjin Univ, Tianjin 300072, Peoples R China

[2] Univ Warwick, Dept Engn Mech, Coventry, W Midlands, England

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

基金：

美国国家科学基金会;

关键词：

parallel kinematic machines; kinematic calibration; DBB;

D O I：

10.1109/IROS.2006.281651

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 deals with the kinematic calibration of a 3-DOF parallel mechanism using a Double-Ball-Bar (DBB) system. The mechanism forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant that is a modified version of the Tricept, achieved by integrating one of its three active limbs into the passive one. The first order error mapping function is formulated to link the measured data and the geometric source errors affecting the compensatable pose accuracy. Issues to enhance the accuracy and efficiency of the calibration are investigated. The results are employed to a prototype machine calibration.

引用

页码：508 / +

页数：2

共 14 条

[1] DETERMINATION OF OPTIMAL MEASUREMENT CONFIGURATIONS FOR ROBOT CALIBRATION BASED ON OBSERVABILITY MEASURE [J].