6533b820fe1ef96bd127985f

RESEARCH PRODUCT

Kinematic calibration method for a 5-DOF Gantry-Tau parallel kinematic machine

Ilya TyapinGeir Hovland

subject

Computer Science::RoboticsHexapodRobot kinematicsRobot calibrationInverse kinematicsControl theoryCalibration (statistics)Laser trackerKinematic diagramComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONKinematicsMathematics

description

In this paper a new step-wise approach to kinematic calibration of a 5-DOF Gantry-Tau parallel kinematic machine (PKM) is presented. The approach can be adapted to the modular design of the PKM and the calibration could easily perform part of the assembly instructions for the machine. By using measurements from a laser tracker and least-squares estimates of polynomial functions, a typical accuracy of about 20 micrometer was achieved for the base actuators. The remaining set of 30 general parameters for the hexapod link structure and spherical joint connections were successfully estimated using the Complex search-based evolutionary algorithm.

yearjournalcountryeditionlanguage
2013-05-012013 IEEE International Conference on Robotics and Automation
https://doi.org/10.1109/icra.2013.6631241