Kinematic calibration of parallel robots using CMM

Dacheng Cong; Dayong Yu; Junwei Han

doi:10.1109/WCICA.2006.1713640

Kinematic calibration of parallel robots using CMM

Dacheng Cong, Dayong Yu, Junwei Han

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

26 Scopus citations

Abstract

A new method for calibrating parallel robots is proposed. It requires measurements of all legs and the pose information provided by coordinate measuring machine. Nonlinear least squares is employed to determine the kinematic parameters. The parameters of the measurement errors in the leg sensors are considered during kinematic modeling and parameter identification program. Experimental results presented demonstrate that the root mean square pose error can be improved at 80% with the 48 identified parameters.

Original language	English
Title of host publication	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Pages	8514-8518
Number of pages	5
DOIs	https://doi.org/10.1109/WCICA.2006.1713640
State	Published - 2006
Externally published	Yes
Event	6th World Congress on Intelligent Control and Automation, WCICA 2006 - Dalian, China Duration: 21 Jun 2006 → 23 Jun 2006

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume	2

Conference

Conference	6th World Congress on Intelligent Control and Automation, WCICA 2006
Country/Territory	China
City	Dalian
Period	21/06/06 → 23/06/06

Keywords

Error modeling
Kinematic calibration
Parallel robot
Parameter identification

Access to Document

10.1109/WCICA.2006.1713640

Cite this

@inproceedings{30a8d7f689754b159c0d9904782bc207,

title = "Kinematic calibration of parallel robots using CMM",

abstract = "A new method for calibrating parallel robots is proposed. It requires measurements of all legs and the pose information provided by coordinate measuring machine. Nonlinear least squares is employed to determine the kinematic parameters. The parameters of the measurement errors in the leg sensors are considered during kinematic modeling and parameter identification program. Experimental results presented demonstrate that the root mean square pose error can be improved at 80% with the 48 identified parameters.",

keywords = "Error modeling, Kinematic calibration, Parallel robot, Parameter identification",

author = "Dacheng Cong and Dayong Yu and Junwei Han",

year = "2006",

doi = "10.1109/WCICA.2006.1713640",

language = "英语",

isbn = "1424403324",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

pages = "8514--8518",

booktitle = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

note = "6th World Congress on Intelligent Control and Automation, WCICA 2006 ; Conference date: 21-06-2006 Through 23-06-2006",

}

Cong, D, Yu, D & Han, J 2006, Kinematic calibration of parallel robots using CMM. in Proceedings of the World Congress on Intelligent Control and Automation (WCICA)., 1713640, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 2, pp. 8514-8518, 6th World Congress on Intelligent Control and Automation, WCICA 2006, Dalian, China, 21/06/06. https://doi.org/10.1109/WCICA.2006.1713640

Kinematic calibration of parallel robots using CMM. / Cong, Dacheng; Yu, Dayong; Han, Junwei.
Proceedings of the World Congress on Intelligent Control and Automation (WCICA). 2006. p. 8514-8518 1713640 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cong, Dacheng

AU - Yu, Dayong

AU - Han, Junwei

PY - 2006

Y1 - 2006

N2 - A new method for calibrating parallel robots is proposed. It requires measurements of all legs and the pose information provided by coordinate measuring machine. Nonlinear least squares is employed to determine the kinematic parameters. The parameters of the measurement errors in the leg sensors are considered during kinematic modeling and parameter identification program. Experimental results presented demonstrate that the root mean square pose error can be improved at 80% with the 48 identified parameters.

AB - A new method for calibrating parallel robots is proposed. It requires measurements of all legs and the pose information provided by coordinate measuring machine. Nonlinear least squares is employed to determine the kinematic parameters. The parameters of the measurement errors in the leg sensors are considered during kinematic modeling and parameter identification program. Experimental results presented demonstrate that the root mean square pose error can be improved at 80% with the 48 identified parameters.

KW - Error modeling

KW - Kinematic calibration

KW - Parallel robot

KW - Parameter identification

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DO - 10.1109/WCICA.2006.1713640

M3 - 会议稿件

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BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

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Kinematic calibration of parallel robots using CMM

Abstract

Publication series

Conference

Keywords

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