Kinematic calibration of orthoglide-type mechanisms

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

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 calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions 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 meas-urement methods and the calibration accuracy are also studied. Experimental re-sults are presented that demonstrate validity of the proposed calibration technique

Mots clés: and error compensation; parallel robots; kinematic calibration; model identification; joint offsets; and error compensation.

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematic calibration of orthoglide-type mechanisms. Alexandre Dolgui, Gérard Morel and Carlos E. Pereira. Information Control Problems in Manufacturing 2006, Elsevier, pp.149-154, 2006, A Proceedings Volume from the 12th IFAC Conference 17-19 May 2006, Saint-Etienne, France. ⟨hal-00186773⟩