Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Fully Autonomous Calibration of Parallel Kinematic Machines Using a Constraint Link

병렬기구 공작기계의 구속링크를 사용한 자동 캘리브레이션

  • Ryu, Je-Ha (Dept. of Mechatronics, Gwangju Institute of Science and Technology) ;
  • 류제하 (광주과학기술원 기전공학과) ;
  • Published : 2001.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

Keywords

References

  1. Zhuang H., Yan J., and Masory O., 'Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals,' Journal of Robotic Systems 15(7), 1998 https://doi.org/10.1002/(SICI)1097-4563(199807)15:7<395::AID-ROB2>3.0.CO;2-H
  2. Nahvi, A., Hollerbach J. M., and Hayward V., 'Calibration of parallel robot using multiple kinematic closed loops,' pp. 407-412, IEEE 1994 https://doi.org/10.1109/ROBOT.1994.351262
  3. Maurine P., and Dombre E., 'A calibration procedure for the parallel robot Delta 4,' IEEE International Conference on Robotics and Automation, pp. 975-980, 1996 https://doi.org/10.1109/ROBOT.1996.506835
  4. Ota, H., Shibukawa, T., Tooyama, T. and Uchiyama, M., 'Forward kinematic calibration method for parallel mechanism using pose data measured by a double ball bar system,' Proceedings of the Year 2000 Parallel Kinematic Machines International Conference, pp. 57-62, September 2000
  5. Besnard S., and Khalil W., 'Calibration of parallel robots using two inclinometers,' IEEE International Conference on Robotics and Automation, 1999 https://doi.org/10.1109/ROBOT.1999.770363
  6. Notash, L. and Podhorodeski, R. P., 'Fixtureless calibration of parallel manipulators,' Transactions of the ASME, Vol. 21, No. 3, pp. 273-294, 1997
  7. Bennet, D. J. and Hollerbach, J. M., 'Autonomous calibration of single loop closed kinematic chains formed by manipulators with passive endpoint constraints,' IEEE Transactions on Robotics and Automation, Vol. 7, No. 5, pp. 597-606, October 1991 https://doi.org/10.1109/70.97871
  8. Iurascu, C. C. and Park, F. C., 'Geometric algorithm for parallel mechanism machine tool,' Proceedings of IEEE International Conference on Robotics and Automation, pp. 1752-1757, May 1999 https://doi.org/10.1109/ROBOT.1999.770362
  9. Zhuang H. and Liu L., 'Self-Calibration of a class of Parallel Manipulators,' IEEE Int. Conference on Robotics and Automation, pp. 994-999, 1996 https://doi.org/10.1109/ROBOT.1996.506838
  10. Zhuang H., 'Self-calibration of parallel mechanisms with a case study on Stewart platforms,' IEEE Trans. On Robotics and Automation, Vol. 13, No. 3, pp. 387-397, 1997 https://doi.org/10.1109/70.585901
  11. C. W. Wampler, J. M. Hollerbach, and T. Arai, 'An implicit loop method for kinematic calibration and its application to closed-chain mechanisms,' IEEE Transactions on Robotics and Automation, Vol. 11, No. 5, pp. 710-724, Oct 1995 https://doi.org/10.1109/70.466613
  12. W. Khalil and S. Besnard, 'Self calibration of Stewart-Gough parallel robots without extra sensors,' IEEE Transactions on Robotics and Automation, Vol. 15, No. 6, pp. 1116-1121, Dec 1999 https://doi.org/10.1109/70.817674
  13. Maurine, P., Abe, K. and Uchiyama, M., 'Towards more accurate parallel robots' IMEKO-XV World Congress, Osaka, Japan, Volume X (1999/6/13-18), 73-80
  14. Maurine, P., Uchiyama, M., and Abe, K. 'A fully-autonomous procedure for kinematic calibration of HEXA parallel robots,' Proceedings of 1998 China-Japan Bilateral Symposium on Advanced Manufacturing Engineering, Huangshan City, P. R. China, (1998/10/5-10), 161-166
  15. Maurine, P., Liu. D. M. and Uchiyama, M., 'Self Calibration of a new HEXA parallel robot,' Proceedings of the 4th JAPAN-FRANCE CONGRESS & 2nd ASIA-EUROPE CONGRESS on MECHATRONICS, Kitakyushu, Japan, pp. 290-295 October 1998
  16. Meggiolaro M. A., Scriffignano G., and Dubowsky S., 'Manipulator calibration using a single end-point contact constraint,' Proceedings of DETC 2000, ASME, Sep. 10-14, DETC2000/MECH-14129, Baltimore, MD, 2000
  17. Merlet, J-P., Les robots paralleles, 2nd ed., Hermes, Paris, 1997