Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals

Journal of Robotic Systems

Volumn 15, Issue 7, 1998, Pages 395-405

  Zhuang, Hanqi ^a   Yan, Jiahua ^a   Masory, Oren ^a  

^a Florida Atlantic Univ   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ERROR ANALYSIS; INVERSE KINEMATICS; MATHEMATICAL MODELS; PROBLEM SOLVING;

STEWART PLATFORM;

MANIPULATORS;

EID: 0032122752     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199807)15:7<395::AID-ROB2>3.0.CO;2-H     Document Type: Article

References (25)

1. C. C. Nguyen and M. Jamshidi, eds., "Parallel closed-kinematic chain manipulators and devices," J. Robot. Sys., 10, 1993.
2. C. C. Nguyen, ed., "Parallel manipulators: Research, development, and applications, J. Robot. Sys., 12, 1995.
3. C. J. Murray, "A floating revolution for automation," Design News, Aug. 15, 58-60, 1994.
4. Editorial Paper, "The cutting edge of machine tools," Manufact. Eng., Nov., 24, 1993.
5. L. J. Everett and C. Y. Lin, "Kinematic calibration of manipulators with closed loop actuated joints," Proc. IEEE Int. Conf. Rob. Autom., Philadelphia, April 1986, 792-797.
6. H. Zhuang and Z. S. Roth, "Kinematic calibration of Stewart platforms," Proc. ASME Winter Annual Meeting, 1991, DSC-Vol. 29, pp. 43-48.
7. J. M. Hollerbach and D. M. Lokhurst, "Closed-loop kinematic calibration of the RSI 6-DOF hand controller," Proc. IEEE Int. Conf. Rob. Autom., Atlanta, May 2-7, 1993, Vol. 2, pp. 142-148.
8. J. Wang, "Workspace evaluation and kinematic calibration of Stewart platform," Ph.D. dissertation, Florida Atlantic University, December 1992.
9. Z. J. Geng and L. S. Haynes, "An effective kinematic calibration method for Stewart platforms," in Intelligent Automation and Soft Computing, Vol. 2, M. Jamshidi, J. Yuh, C. C. Nguyen, and R. Lumia, eds., TSI Press, Albuquerque, NM, 1993, pp. 87-92.
10. B. W. Mooring, Z. S. Roth, and M. Driels, Fundamentals of Manipulator Calibration, John Wiley & Sons, New York, 1991.
11. M. R. Driels and W. E. Swayze, "Automated partial pose measurement system for manipulator calibration experiments." IEEE Trans. Rob. of Antom. 10 430-440, 1994.
12. D. E. Whitney, C. A. Lozinski, and J. M. Rourke, "Industrial robot forward calibration method and results," J. Dyn. Syst. Meas. Control Trans. ASME, 108, 1-8, 1986.
13. D. W. Marquardt, "An algorithm for least-squares estimation of nonlinear parameters," J. Soc. Indust. Appl. Math., 11, 431-441, 1963.
14. W. H. Press, B. P. Flannery, S. A. Teukolsky and W. T. Vetteling, Numerical Recipes: The Art of Science Computing, Cambridge Univ. Press, Cambridge, 1986.
15. H. Zhuang, Z. S. Roth, and F. Hamano, "Observability issues in kinematic error parameter identification of manipulators, J. Dyn. Sys. Meas. Control. Trans. ASME, 114, 319-322, 1992.
16. M. R. Driels and U. S. Pathre, "Significance of observation strategy on the design of robot calibration experiments," J. Robot. Sys., 7, 197-223, 1990.
17. J. H. Borm and C. H. Menq, "Determination of optimal measurement configurations for robot calibration based on observability measure," Int. J. Robot. Res., 10, 51-63, 1991.
18. W. Khalil, M. Gautier, and C. Enguehard, "Identifiable parameters and optimum configurations for robot calibrations," Robotica, 9, 63-70.
19. L. Marquis, "Development of a controller for a Stewart platform," Master's Thesis, Florida Atlantic University, 1992.
20. O. Masory and J. Yan, "Measurement of pose repeatability of Stewart platform," J. Robot. Sys., 12, 821-832, 1995.
21. C. W. Wampler and T. Arai, "Calibration of robots having kinematic closed loops using nonlinear least-squares estimation," Proc. IFToMM-jc Symp., Japan, 1992, Vol. 1, pp. 153-158.
22. C. W. Wampler, J. M. Hollerbach, and T. Arai, "An implicit loop method for kinematic calibration and its application to closed-chain mechanisms," IEEE Trans. Robot. Autom., 11, 710-724, 1995.
23. H. Zhuang, "Self-calibration of parallel mechanisms with a case study on Stewart platforms," IEEE Trans. Robot. Autom., 13, 387-397, 1997.
24. H. Zhuang and L. Liu, "Autonomous calibration of hexapod machine tools," ASME J. Manufact. Sci. Technol., to appear.
25. K. Kanatani, "Unbiased estimation and statistical analysis of 3-D rigid motion from two views," IEEE Trans. Pattern Anal. Machine Intell., 15, 37-50, 1993.