0
TECHNICAL PAPERS

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

[+] Author and Article Information
Jay il Jeong, Dongsoo Kang, Young Man Cho, Jongwon Kim

School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, 151-742, Korea

J. Mech. Des 126(2), 307-318 (May 05, 2004) (12 pages) doi:10.1115/1.1667902 History: Received May 01, 2002; Revised July 01, 2003; Online May 05, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Park,  F. C., and Kim,  J. W., 1999, “Singularity Analysis of Closed Kinematic Chains,” ASME J. Mech. Des., 121(1), pp. 32–38.
Patel, A. J., 1998, “Error Analysis and Accuracy Enhancement of a Hexpod Machine Tool,” Ph.D. Thesis, Northwestern University Evanston, Illinois.
Hollerbach,  J. M., and Wampler,  C. W., 1996, “The Calibration Index and Taxonomy for Robot Kinematic Calibration Methods,” Int. J. Robot. Res., 15(6), pp. 573–591.
Kosechi, Y., Arai, T., Sugimoto, K., Takatuji, T., and Goto, M., 1998, “Design and Accuracy of High-Speed and High Precision Parallel Mechanism,” IEEE Proc. Int. Conference Robotics and Automation, Leuven, pp. 1340–1345.
Weck, M. and Staimer, D., 2000, “Accuracy Issues of Parallel Kinematic Machine Tools: Compensation and Calibration,” Parallel Kinematic Machines Int. Conf., pp. 35–41.
Bennett,  D. J., and Hollerbach,  J. M., 1989, “Autonomous Calibration of a Single Loop Closed Kinematic Chain formed by Manipulators with Passive Endpoint Constraints,” IEEE Trans. Rob. Autom., 7(5), pp. 597–605.
Ota, H., Shibukawa, T., Tooyama, T., and Uchiyama, M., 2000, “Forward Kinematic Calibration Method for Parallel Mechanisms Using Pose Data Measured by a Double Ball Bar System,” Proc. Parallel Kinematic Machines., pp. 57–62.
Ryu, J., and Rauf, A., 2001, “A New Method For Fully Autonomous Calibration of Parallel Manipulators Using Constraint Link,” Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, July, Vol. 1 , pp. 141–146.
Khalil,  W., and Besnard,  S., 1999, “Self-Calibration of Stewart-Gough Parallel Robots Without Extra Sensors,” IEEE Trans. Rob. Autom., 15(6), December. pp. 1116–1121.
Jokiel, B., Jr., Bieg, L., and Ziegert, J. C., 2000, “Stewart Platform Calibration Using Sequential Determination of Kinematic Parameters,” Proc. Parallel Kinematic Machines, pp. 50–56.
Wampler,  C. W., Hollerbach,  J. M., and Arai,  T., 1995, “An Implicit Loop Method for Kinematic Calibration and its Application to Closed Chain Mechanisms,” IEEE Trans. Rob. Autom., 11(5), pp. 710–724.
Iurascu,  C. C., and Park,  F. C., 2003, “Kinematic Calibration of Robots Containing Closed Loops,” ASME J. Mech. Des., 125(1), pp. 23–32.
Zhuang,  H., 1995, “Self-Calibration of Parallel Mechanisms with a Case Study on Stewart Platforms,” IEEE Trans. Rob. Autom., 13(3), pp. 387–397.
Zhuang, H., and Liu, L., 1996, “Self-Calibration of a Class of Parallel Manipulators,” Proc. IEEE Int. Conference Robotics and Automation, Vol. 2 , pp. 994–999.
Kumar,  V., and Gardner,  J. F., 1990, “Kinematics of Redundantly Actuated Closed Chains,” IEEE Trans. Rob. Autom., 6(2), pp. 269–274.
Luecke,  G. R., and Lai,  K. W., 1997, “A Joint Error-Feedback Approach to Internal Force Regulation in Cooperating Manipulator Systems,” J. Rob. Syst., 14(9), pp. 631–648.
Ryu, S., 2001, “Joint Torque Distribution for Redundantly Actuated Parallel Mechanisms,” School of Mechanical & Aerospace Engineering, Seoul National University, Ph.D. Thesis.
Kim,  J., Park,  F. C., Ryu,  S. J., Kim,  J., Hwang,  J., Park,  C., and Iurascu,  C., 2001, “Design and Analysis of a Redundantly Actuated Parallel Mechanism for Rapid Machining,” IEEE Trans. Rob. Autom., 17(4), pp. 423–434.
Gosselin,  C. M., 1996, “Kinematische und Statische Analyze eines Ebenen Parallelen Manipulators mit dem Freiheitsgrad Zwei,” Mech. Mach. Theory, 31(2), pp. 149–160.
Kircanski,  N. M., and Goldenberg,  A. A., 1997, “An Experimental Study of Nonlinear Stiffness, Hysteresis, and Friction Effects in Robot with Harmonic Drives and Torque Sensors,” Int. J. Robot. Res., 16(2), pp. 214–239.

Figures

Grahic Jump Location
Error propagation mechanism of redundantly actuated parallel mechanism
Grahic Jump Location
An example to derive relationship between constraint torque and torsional deflection
Grahic Jump Location
Kinematic structure of the planar 2-DOF parallel mechanism
Grahic Jump Location
Singularity regions according to the actuated joints
Grahic Jump Location
Schematic figure with error parameters
Grahic Jump Location
Result of independent joint selection with minimum condition number
Grahic Jump Location
Union set of condition number inverse according to selected subset of independent joints
Grahic Jump Location
Experimental stand for 2-DOF parallel mechanism
Grahic Jump Location
Experimental setup for torsional deflection and internal torque measurements
Grahic Jump Location
Relationship of joint deflections and internal torque measured values of actuating joint
Grahic Jump Location
Measuring points on whole workspace
Grahic Jump Location
Laser Ball Bar measurement set-up
Grahic Jump Location
Measured error using laser ball bar
Grahic Jump Location
Maximum accuracy of optimization vs. measuring points No.
Grahic Jump Location
Measured error and calculated error using optimized kinematic parameter
Grahic Jump Location
Comparison for accuracy and repeatability before and after calibration

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In