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

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

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

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

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions. Mechatronics, 2009, 19 (4), pp.478-488. ⟨10.1016/j.mechatronics.2008.11.008⟩. ⟨hal-00418777⟩