HAL : hal-00418777, version 1

arXiv : 0909.3786

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Mechatronics 19, 4 (2009) 478-488

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

Anatoly Pashkevich 1, Damien Chablat 1, Philippe Wenger 1

(06/2009)

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a simple and low-cost measuring system, which evaluates deviation of the leg location during motions that are assumed to preserve the leg parallelism for the nominal values of the manipulator parameters. Using the measured deviations, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be identified. The validity of the proposed calibration method and efficiency of the developed numerical algorithms are confirmed by experimental results. The sensitivity of the measurement methods and the calibration accuracy are also studied.

1 :	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

Domaine

:

Informatique/Robotique

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

hal-00418777, version 1

http://hal.archives-ouvertes.fr/hal-00418777

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Contributeur : Damien Chablat <>

Soumis le : Lundi 21 Septembre 2009, 15:55:37

Dernière modification le : Lundi 21 Septembre 2009, 16:15:17