HAL : hal-00145163, version 1

arXiv : 0705.1215

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Saint Etienne : France (2006)

Kinematic Calibration of the Orthoglide-Type Mechanisms

Anatoly Pashkevich 1, Damien Chablat 2, Philippe Wenger 2

(2006)

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be adjusted. The sensitivity of the measurement methods and the calibration accuracy are also studied. Experimental results are presented that demonstrate validity of the proposed calibration technique.

1 :	Robotic Laboratory, Department of Control Systems (ROBOTIC LABORATORY)
	Belarusian State University of Informatics and Radioelectronics
2 :	Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
	CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes

Équipe de recherche : Méthode de conception en mécanique

Domaine

:

Informatique/Robotique

Mots Clés : parallel robots – kinematic calibration – model identification – joint offsets – error compensation – orthoglide

hal-00145163, version 1

http://hal.archives-ouvertes.fr/hal-00145163

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Contributeur : Damien Chablat <>

Soumis le : Mardi 8 Mai 2007, 23:08:48

Dernière modification le : Mercredi 9 Mai 2007, 09:21:41