Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

Anatol Pashkevich (1, 2) , Damien Chablat (2) , Philippe Wenger (2) , Roman Gomolitsky (1)

1 ROBOTIC LABORATORY - Robotic Laboratory, Department of Control Systems
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and 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 and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.

Mots clés: Parallel robots; calibration; parameter identification; error compensation

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Damien Chablat, Philippe Wenger, Roman Gomolitsky. Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations. Jee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008. ⟨hal-00428919⟩