Vision-based kinematic calibration of a H4 parallel mechanism

Pierre Renaud (1) , Nicolas Andreff (2) , Frédéric Marquet (3) , Philippe Martinet (2)

1 LaRAMA - Laboratoire de Recherches et Application en Mécanique Avancée
2 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
3 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier

In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. With a precision of the order of magnitude of 0.2mm and 0.03 • , our vision system allowed us to obtain a final positioning accuracy of the end-effector lower than 0.5mm. Conclusions are given on the use of a vision-based measuring device for the calibration of this class of mechanisms.

Domaines: Automatique / Robotique

Pierre Renaud, Nicolas Andreff, Frédéric Marquet, Philippe Martinet. Vision-based kinematic calibration of a H4 parallel mechanism. ICRA 2003 - IEEE International Conference on Robotics and Automation, Sep 2003, Taipei, Taiwan. pp.1191-1196, ⟨10.1109/ROBOT.2003.1241754⟩. ⟨hal-02466410⟩