0
TECHNICAL PAPERS

A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series

[+] Author and Article Information
Yukio Takeda

Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, 2-12-1, O-okayama, Meguro-ku, Tokyo 152-8552, Japane-mail:takeda@mech.titech.ac.jp

Gang Shen

Robot Laboratory, FANUC LTD, Oshino-mura, Yamanashi 401-0597, Japan

Hiroaki Funabashi

Department of Mechanical Engineering, Shibaura Institute of Technology, 3-9-14, Shibaura, Minato-ku, Tokyo 108-8548, Japan

J. Mech. Des 126(5), 856-865 (Oct 28, 2004) (10 pages) doi:10.1115/1.1767822 History: Received January 01, 2003; Revised February 01, 2004; Online October 28, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Proc. Year 2000 Parallel Kinematic Machines Int. Conf., 2000.
Takeda, Y., Funabashi, H., Kimura, M., and Hirose, K., 1999, “Development of a Spatial Six-Degree-of-Freedom In-Parallel Actuated Worktable With Rolling Spherical Bearings,” Proc. 9-th Int. Conf. Advanced Robotics (ICAR), pp. 551–556.
Takeda, Y., Funabashi, H., Shen, G., Ichikawa, K., and Hirose, K., 2000, “Stiffness Analysis of a Spatial Six-Degree-of-Freedom In-Parallel Actuated Mechanism With Rolling Spherical Bearing,” Proc. Year 2000 Parallel Kinematic Machines Int. Conf., pp. 264–273.
Takeda,  Y., and Funabashi,  H., 1995, “Motion Transmissibility of In-Parallel Actuated Manipulators,” JSME Int. J., 38(4), pp. 749–755.
Takeda,  Y., and Funabashi,  H., 1996, “Kinematic and Static Characteristics of In-Parallel Actuated Manipulators at Singular Points and in Their Neighborhood,” JSME Int. J., 39(1), pp. 85–93.
Takeda,  Y., Funabashi,  H., and Ichimaru,  H., 1997, “Development of Spatial In-Parallel Actuated Manipulators With Six Degrees of Freedom With High Motion Transmissibility,” JSME Int. J., 40(2), pp. 299–308.
Takeda,  Y., and Funabashi,  H., 1999, “Kinematic Synthesis of In-Parallel Actuated Mechanisms Based on the Global Isotropy Index,” J. of Robotics and Mechatronics,11(5), pp. 404–410.
Ota, H., Shibukawa, T., and Uchiyama, M., 2000, “Forward Kinematic Calibration Method for Parallel Mechanism Using Pose Data Measured by a Double Ball Bar System,” Proc. Year 2000 Parallel Kinematic Machines Int. Conf., pp. 57–62.
Patel,  A. J., and Ehmann,  K. F., 2000, “Calibration of a Hexapod Machine Tool Using a Redundant Leg,” Int. J. Mach. Tools Manuf., 40, pp. 489–512.
Vischer,  P., and Clavel,  R., 1998, “Kinematic Calibration of the Parallel Delta Robot,” Robotica,16, pp. 207–218.
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.
Nahvi, A., Hollerbach, J. M., and Hayward, V., 1994, “Calibration of a Parallel Robot Using Multiple Kinematic Closed Loops,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 407–412.
Zhuang,  H., Jiahua,  Y., and Masory,  O., 1998, “Calibration of Stewart Platforms and Other Parallel Manipulators by Minimizing Inverse Kinematic Residuals,” J. Rob. Syst., 15, pp. 395–405.
Daney, D., 2002 “Optimal Measurement Configuration for Gough Platform Calibration,” Proc. IEEE Int. Conf. Robotics and Automation, pp. 147–152.
Zhuang,  H., 1997, “Self-Calibration of Parallel Mechanisms With a Case Study on Stewart Platforms,” IEEE Trans. Rob. Autom., 13, pp. 387–397.
Besnard, S., and Khalil, W., 2001, “Identifiable Parameters for Parallel Robots Kinematic Calibration,” Proc. 2001 IEEE Int. Conf. Robotics and Automation, pp. 2859–2866.
Iurascu,  C. C., and Park,  F. C., 2003, “Geometric Algorithms for Kinematic Calibration of Robots Containing Closed Loops,” ASME J. Mech. Des., 125, pp. 23–32.
Borm,  J. H., 1991, “Determination of Optimal Measurement Configurations for Robot Calibration Based on Observability Measure,” Int. J. Robot. Res., 10(1), pp. 51–63.
Driels,  M. R., and Pathre,  U. S., 1990, “Significance of Observation Strategy on the Design of Robot Calibration Experiments,” J. Rob. Syst., 7(2), pp. 197–223.
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.
Nahvi, A., and Hollerbach, J. M., 1996, “The Noise Amplification Index for Optimal Pose Selection in Robot Calibration,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 647–654.
Zhuang, H., Wang, K., and Roth, Z. S., 1994, “Optimal Selection of Measurement Configurations for Robot Calibration Using Simulated Annealing,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 393–398.
Kakino, Y., Ihara, Y., and Shinohara, A., 1993, “Accuracy Inspection of NC Machine Tools by Double Ball Bar Method,” Carl Hanser Verlag.
Innocenti,  C., 1998, “Closed-Form Determination of the Location of a Rigid-Body by Seven In-Parallel Linear Transducers,” ASME J. Mech. Des., 120, pp. 293–298.
Salisbury,  J. K., and Craig,  J. J., 1982, “Articulated Hands: Force Control and Kinematic Issues,” J. Ferment. Bioeng., 1(1), pp. 4–17.
Forsythe, G. E., Malcolm, M. A., and Moler, C., B., 1977, Computer Methods for Mathematical Computations, Prentice-Hall, Englewood Cliffs, NJ.

Figures

Grahic Jump Location
The DBB (Double-Ball-Bar) system
Grahic Jump Location
Algorithm for determining the set of measurement paths
Grahic Jump Location
Crank-type spatial in-parallel actuated mechanism with six degrees of freedom
Grahic Jump Location
Locations of joints on the base and output links
Grahic Jump Location
Overview of the experimental worktable
Grahic Jump Location
Error parameters in each connecting chain
Grahic Jump Location
The maximum resultant error ΔrD max with respect to the number of iterations when no measurement error is included
Grahic Jump Location
Condition number CG with respect to the number of iterations (Ns=24)
Grahic Jump Location
Condition number CG vs. number of paths Ns used in the calibration
Grahic Jump Location
Pose accuracy (AP) after calibration vs. condition number CG(Ns=8, 10, 12, 16, 24 from right). (a) whole population; (b) the population obtained using the first step.
Grahic Jump Location
The process of convergence of a parameter X1,4 with respect to the number of iterations. (a) large scale; (b) small scale.
Grahic Jump Location
Results of DBB test before and after calibration
Grahic Jump Location
Distance and orientation error during linear motion in X direction after calibration (Z=630 mm). (a) distance error; (b) orientation error.

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