Development of a parallel wire mechanism for measuring position and orientation of a robot end-effector

Mechatronics

Volumn 8, Issue 8, 1998, Pages 845-861

  Jeong, Jae Won ^a   Kim, Soo Hyun ^a   Kwak, Yoon Keun ^a   Smith, Craig C ^b  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Department of Electrical and Computer Engineering   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; GEOMETRY; KINEMATICS; MEASUREMENT ERRORS; NONLINEAR EQUATIONS; POSITION MEASUREMENT;

NEWTON-RAPHSON METHOD; ORIENTATION MEASUREMENT; PARALLEL WIRE MECHANISM; WIRE COMPENSATION FACTOR;

MECHANISMS;

EID: 0032289831     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/s0957-4158(98)00034-8     Document Type: Article

References (20)

1. Whitney DE, Lozinksi CA, Rourke JM. Industrial robot forward calibration method and results. ASME Journal of Dynamic Systems, Measurement and Control 1986;108:1-8.
2. Judd RP, Knasinsk AB. A technique to calibrate industrial robots with experimental verification. IEEE Transactions on Robotics and Automation 1990;6(1):20-30.
3. Gilby JH, Parker GA. Laser tracking system to measure robot arm performance. Sensor Review 1982;2(4)180-84.
4. Zupancic J. Calibration of an SMT robot assembly cell. Journal of Robotics Systems 1994;11(4):301-10.
5. Renders JM, Rossignol E, Becquet M, Hanus R. Kinematic calibration and geometrical parameter identification for robots. IEEE Transactions on Robotics and Automation 1991;7(6):721-32.
6. Everett LJ, Lei J. Improved manipulator performance through local D-H calibration. Journal of Robotic Systems 1995;12(7):505-14.
7. Van Albada GD, Lager JM, Visser A, Hertzberger LO. A low-cost pose-measuring system for robot calibration. Robotics and Autonomous Systems 1995;15:207-27.
8. Driels MR, Pathre US. Vision-based automatic theodolite for robot calibration. IEEE Transactions on Robotics and Automation 1991;7(3):351-60.
9. Inagaki S, Ando Y, Suzuki S. Characteristics of measuring equipment for manipulating industrial robots. Proceedings of 20th International Symposium on Industrial Robots, 1989, Japan, 987-92.
10. Ming A. Study on multiple degree-of-freedom positioning mechanism using wires. Ph.D. thesis, University of Tokyo, Japan, 1990.
11. Kawamura S, Ito K. A new type of master robot for teleoperation using a radial wire drive system. Proceedings 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems. Japan, 1993, pp, 55-60.
12. Ming A, Higuchi T. Study on multiple degree-of-freedom positioning mechanism using wires (Part 1) - Concept, design and control. International Journal of JSPE 1994;28(2):131-8.
13. Ming A, Higuchi T. Study on multiple degree-of-freedom positioning mechanism using wires (Part 2) - Development of planar completely restrained positioning mechanism. International Journal of JSPE 1994;28(3):235-242.
14. Ming A, Kajitani M, Higuchi T. On the design of wire parallel mechanism. International Journal of JSPE 1995;29(4)337-42.
15. Liu K, Fitzgerald J, Lewis FL. Kinematic analysis of a Stewart platform manipulator. IEEE Transactions on Industrial Electronics 1993;40(2):282-93.
16. Husain M, Waldron KJ. Direct position kinematics of the 3-1-1-1 Stewart platforms. ASME Journal of Mechanical Design 1994;116:1102-7.
17. William HP, Saul AT, William TV, Brian PF. Numerical recipes in C - the art of scientific computing. 2nd ed. New York: Cambridge University Press, 1992. pp. 379-83.
18. Wahl AM. Mechanical Springs, 2nd ed., McGraw-Hill, New York, 1963, pp. 143-296.
19. Beer FP. Johnston ER. Mechanics of materials. 2nd ed. Singapore: McGraw-Hill, 1992. pp. 51-2.
20. Anthony JW, Robert JW. Inclined cables under load - design expressions. ASCE Journal of the Structural Division 1977;103(ST5):1061-78.