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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

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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 By: Danielle Dennie
Deposited On:10 Apr 2018 16:49
Last Modified:10 Apr 2018 16:49


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