Model based geometric calibration is well known to be an efficient way to enhance absolute accuracy of robotic systems. Generally its application requires redundant measurements, which are achieved by external metrology equipment in most traditional calibration techniques. However, these methods are usually time-consuming, expensive and inconvenient. Thus, so-called self-calibration methods have achieved attention from researchers, which either use internal sensors or rely on mechanical constraints instead. In this paper a new self-calibration technique is presented for parallel robots which is motivated by the idea of constrained calibration. The new approach utilizes a special machine component called the adaptronic swivel joint in order to achieve the required redundant information. Compared to similar approaches it offers several advantages. The new calibration scheme is described and verified in simulation studies using a RRRRR-structure as an example.
- Design Engineering Division and Computers in Engineering Division
Parallel Robot Calibration Utilizing Adaptronic Joints
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Last, P, Raatz, A, Hesselbach, J, Pavlovic, N, & Keimer, R. "Parallel Robot Calibration Utilizing Adaptronic Joints." Proceedings of the ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B. Brooklyn, New York, USA. August 3–6, 2008. pp. 1277-1284. ASME. https://doi.org/10.1115/DETC2008-49918
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