Login | Register

Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine


Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine

Li, Pengcheng, Zeng, Rui, Xie, Wenfang and Zhang, Xiaoming (2018) Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine. International Journal of Advanced Robotic Systems, 15 (2). pp. 1-14. ISSN 1729-8814

Text (application/pdf)
Xie-2018.pdf - Published Version
Available under License Creative Commons Attribution.

Official URL: http://dx.doi.org/10.1177/1729881418765861


In this article, a relative posture-based algorithm is proposed to solve the kinematic calibration problem of a 6-RSS parallel robot using the optical coordinate measurement machine system. In the research, the relative posture of robot is estimated using the detected pose with respect to the sensor frame through several reflectors which are fixed on the robot end-effector. Based on the relative posture, a calibration algorithm is proposed to determine the optimal error parameters of the robot kinematic model and external parameters introduced by the optical sensor. This method considers both the position and orientation variations and does not need the accurate location information of the detection sensor. The simulation results validate the superiority of the algorithm by comparing with the classic implicit calibration method. And the experimental results demonstrate that the proposal relative posture-based algorithm using optical coordinate measurement machine is an implementable and effective method for the parallel robot calibration.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical, Industrial and Aerospace Engineering
Item Type:Article
Authors:Li, Pengcheng and Zeng, Rui and Xie, Wenfang and Zhang, Xiaoming
Journal or Publication:International Journal of Advanced Robotic Systems
Date:March 2018
  • Concordia Open Access Author Fund
Digital Object Identifier (DOI):10.1177/1729881418765861
Keywords:Parallel robot, calibration, optical sensor, kinematic analysis
ID Code:983710
Deposited On:10 Apr 2018 16:49
Last Modified:10 Apr 2018 16:49


1. Wu, J, Wang, D, Wang, L. A control strategy of a two degrees-of-freedom heavy duty parallel manipulator. J Dyn Syst Meas Control 2015; 137: 061007.
2. Wu, J, Yu, G, Gao, Y. Mechatronics modeling and vibration analysis of a 2-dof parallel manipulator in a 5-dof hybrid machine tool. Mech Mach Theory 2018; 121: 430–445.
3. Journal, I, Robotics, OF. Overview of robot calibration. IEEE J Robot Autom 1987; 5: 377–385.
4. Wu, L, Ren, H. Finding the kinematic base frame of a robot by hand-eye calibration using 3d position data. IEEE Trans Autom Sci Eng 2017; 14: 314–324.
5. Wang, D, Bai, Y. Calibration of Stewart platforms using neural networks. In: 2012 IEEE conference on evolving and adaptive intelligent systems (EAIS), Madrid, Spain, 17–18 May 2012, pp. 170–175.
6. Yu, D, Li, H, Chen, W. Kinematic calibration of parallel robots for docking mechanism motion simulation. Int J Adv Robot Syst 2011; 8: 47.
7. Wang, L, Liu, Y, Wu, J. Study of error modeling in kinematic calibration of parallel manipulators. Int J Adv Robot Syst 2016; 13: 1729881416672560.
8. Liu, Y, Wu, J, Wang, L. Kinematic calibration of a 3-dof parallel tool head. Ind Robot: Int J 2017; 44: 231–241.
9. Masory, O, Wang, J, Zhuang, H. Kinematic modeling and calibration of a Stewart platform. Adv Robot 1996; 11: 519–539.
10. Renaud, P, Andreff, N, Lavest, JM. Simplifying the kinematic calibration of parallel mechanisms using vision-based metrology. IEEE Trans Robot 2006; 22: 12–22.
11. Zhuang, H. Self-calibration of parallel mechanisms with a case study on Stewart platforms. IEEE Trans Robot Autom 1997; 13: 387–397
12. Abtahi, M, Pendar, H, Alasty, A. Experimental kinematic calibration of parallel manipulators using a relative position error measurement system. Robot Comput Integr Manuf 2010; 26: 799–804.
13. Hao, Y, Changchun, L, Xiaodong, L. Calibration of Stewart platform based on coordinate measurement. In: Proceedings of international conference on modelling identification and control, Shanghai, China, 26–29 June 2011, pp. 469–474.
14. Besnard, S, Khalil, W. Calibration of parallel robots using two inclinometers. In: Proceedings of the IEEE international conference on robotics and automation, Detroit, MI, USA, 10–15 May 1999, vol. 3. pp. 0–5.
15. Ibaraki, S, Yokawa, T, Kakino, Y. Kinematic calibration on a parallel kinematic machine tool of the Stewart platform by circular tests. In: Proceedings of the American control conference, Boston, MA, USA, 30 June–2 July 2004, vol. 2, pp. 1394–1399
16. Zhao, L, Joubair, A, Bigras, P. Metrological evaluation of a novel medical robot and its kinematic calibration. Int J Adv Robot Syst 2015; 12: 126.
17. Nubiola, A, Slamani, M, Joubair, A. Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker. Robotica 2014; 32: 447–466.
18. Wampler, CW, Hollerbach, JM, Arai, T. An implicit loop method for kinematic calibration and its application to closed-chain mechanisms. IEEE Trans Robot Autom 1995; 11: 710–724.
19. Khalil, W, Besnard, S. Self calibration of Stewart–Gough parallel robots without extra sensors. IEEE Trans Robot Autom 1999; 15: 1116–1121
20. Pradeep, V, Konolige, K, Berger, E. Calibrating a multiarm multi-sensor robot: a bundle adjustment approach. In: Springer tracts in advanced robotics, vol. 79. Berlin, Heidelberg: Springer, pp. 211–225.
21. Daney, D, Andreff, N, Chabert, G. Interval method for calibration of parallel robots: vision-based experiments. Mech Mach Theory 2006; 41: 929–944.
22. Tan, N, Clévy, C, Laurent, GJ. Accuracy quantification and improvement of serial micropositioning robots for in-plane motions. IEEE Trans Robot 2015; 31: 1497–1507.
23. Hollerbach, JM, Wampler, CW. The calibration index and taxonomy for robot kinematic calibration methods. Int J Robot Res 1996; 15: 573–591.
24. Daney, D. Choosing measurement poses for robot calibration with the local convergence method and tabu search. Int J Robot Res 2005; 24: 501–518.
25. Zeng, R, Dai, S, Xie, WF. Determination of the proper motion range of the rotary actuators of 6-RSS parallel robot. In: 2015 CCToMM symposium on mechanisms, machines, and mechatronics, Carleton University, Ottawa, 28–29 May 2015, pp. 94–105. CCToMM.
26. Wang, J, Masory, O. On the accuracy of a Stewart platform. I. The effect of manufacturing tolerances. In: Proceedings of the 1993 IEEE international conference on robotics and automation, Atlanta, GA, USA, 2–6 May 1993, vol. 1, pp. 114–120. IEEE.
27. Mooring, BW, Roth, ZS, Driels, MR. Fundamentals of manipulator calibration. New York: Wiley, 1991.
28. Shirai, Y. Three-dimensional computer vision. Berlin, Heidelberg: Springer Science & Business Media, 2012.
29. Hartley, RI, Sturm, P. Triangulation. Comput Vis Image Understand 1997; 68: 146–157.
30. Kanatani, K, Sugaya, Y, Niitsuma, H. Triangulation from two views revisited: Hartley–Sturm vs. optimal correction. In Practice 2008; 4: 5.
31. Wilson, WJ, Hulls, CCW, Bell, GS. Relative end-effector control using Cartesian position based visual servoing. IEEE Trans Robot Autom 1996; 12: 684–696.
32. Yuan, JS. A general photogrammetric method for determining object position and orientation. IEEE Trans Robot Autom 1989; 5: 129–142.
33. Daniilidis, K. Hand-eye calibration using dual quaternions. Int J Robot Res 1999; 18: 286–298.
34. Tan, N, Gu, X, Ren, H. Simultaneous robot-world, sensor-tip, and kinematics calibration of an underactuated robotic hand with soft fingers. IEEE Access 2017, PP(99), p.1.
35. Zeng, R, Dai, S, Xie, W. Constraint conditions determination for singularity-free workspace of central symmetric parallel robots. In: IFAC-PapersOnLine (eds Dolgui, A, Sasiadek, J, Zaremba, M), vol. 28, pp. 1930–1935. Elsevier Ltd.: International Federation of Automatic Control.
36. Park, FC, Kim, JW. Singularity analysis of closed loop kinematic chains. Trans ASME J Mech Des 1999; 121: 32–38.
37. Bonev, IA, Zlatanov, D, Gosselin, CM. Singularity analysis of 3-DOF planar parallel mechanisms via screw theory. J Mech Des 2003; 125: 573.
38. Borm, JH, Meng, CH. Determination of optimal measurement configurations for robot calibration based on observability measure. Int J Robot Res 1991; 10: 51–63.
39. Nubiola, A, Bonev, IA. Absolute calibration of an ABB IRB 1600 robot using a laser tracker. Robot Comput Int Manuf 2013; 29: 236–245.
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Downloads per month over past year

Back to top Back to top