Self-calibration of a general hexapod manipulator using cylinder constraints

International Journal of Machine Tools and Manufacture

Volumn 43, Issue 10, 2003, Pages 1051-1066

  Chiu, Y J ^a   Perng, M H ^a  

^a NATIONAL TSING HUA UNIVERSITY   (Taiwan)

Author keywords

Hexapod manipulator; Parallel mechanism; Self calibration; Stewart platform

Indexed keywords

ALGORITHMS; CALIBRATION; COMPUTER SIMULATION; GRIPPERS; LEAST SQUARES APPROXIMATIONS; MACHINE TOOLS; MACHINING;

SELF-CALIBRATION;

MANIPULATORS;

EID: 0037566240     PISSN: 08906955     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0890-6955(03)00082-8     Document Type: Article

References (24)

1. Mooring B.W., Roth Z.S., Driels M.R. Fundamentals of Manipulator Calibration. 1991;John Wiley & Sons, New York.
2. Hollerbach J.M. A survey of kinematic calibration. Khatib O., Craig J.J., Lozano-Pérez T. The Robotics Review 1. 1989;MIT Press, Cambridge, MA.
3. Legnani G., Mina C., Trevelyan J. Static calibration of industrial manipulators: Design of an optical instrumentation and application to SCARA robots. Journal of Robotic Systems. 13:(7):1996;445-460.
4. Zhuang H., Yan J., Masory O. Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals. Journal of Robotic Systems. 15:(7):1998;395-405.
5. Everett L.J. Forward calibration of closed-loop jointed manipulators. International Journal of Robotics Research. 8:(4):1989;85-91.
6. Bennett D.J., Hollerbach J.M. Autonomous calibration of single-loop closed kinematic chains formed by manipulators with passive endpoint constraints. IEEE Transactions on Robotics and Automation. 7:(3):1991;597-606.
7. Hollerbach J.M., Wampler C.W. The calibration index and taxonomy for robot kinematic calibration methods. International Journal of Robotics Research. 15:(6):1996;573-591.
8. Wampler C.W., Hollerbach J.M., Arai T. An implicit loop method for kinematic calibration and its application to closed-chain mechanisms. IEEE Transactions on Robotics and Automation. 11:(5):1995;710-724.
9. Zhuang H. Self-calibration of parallel mechanisms with a case study on Stewart platforms. IEEE Transactions on Robotics and Automation. 13:(3):1997;387-397.
10. Patel A.J., Ehmann K.F. Calibration of a hexapod machine tool using a redundant leg. International Journal of Machine Tools & Manufacture. 40:(4):2000;489-512.
11. Besnard S., Khalil W. Calibration of parallel robots using two inclinometers. Proceedings of the IEEE International Conference on Robotics and Automation: 1999;1758-1763.
12. Zhuang H., Liu L. Self-calibration of a class of parallel manipulators. Proceedings of the IEEE International Conference on Robotics and Automation: 1996;994-999.
13. Besnard S., Khalil W. Identifiable parameters for parallel robots kinematic calibration. Proceedings of the IEEE International Conference on Robotics and Automation: 2001;2859-2866.
14. Daney D. Self calibration of Gough platform using leg mobility constraints. 10th International Federation for the Theory of Machines and Mechanisms (IFToMM), Oulu, Finland, 20-24 June: 1999;104-109.
15. Khalil W., Besnard S. Self-calibration of Stewart-Gough parallel robots without extra sensors. IEEE Transactions on Robotics and Automation. 15:(6):1999;1116-1121.
16. Chiu Y.J., Perng M.H. Total self-calibration of a general architecture hexapod manipulator. 2002 Parallel Kinematic Machines International Conference, Chemnitz, Germany, 23-25 April: 2002;469-490.
17. Zhuang H., Motaghedi S.H., Roth Z.S. Robot calibration with planar constraints. Proceedings of the IEEE International Conference on Robotics and Automation: 1999;805-810.
18. Masory O., Wang J., Zhuang H. Kinematic modeling and calibration of a Stewart platform. Advanced Robotics. 11:(5):1997;519-539.
19. Menq C.H., Borm J.H., Lai J.Z. Identification and observability measure of a basis set of error parameters in robot calibration. Journal of Mechanisms, Transmissions and Automation in Design. 111:1989;513-518.
20. Tsai L.W. Robot Analysis: The Mechanics of Serial and Parallel Manipulators. 1999;John Wiley & Sons, New York.
21. Zhong X.L., Lewis J.M., Nagy F.L.N. Autonomous robot calibration using a trigger probe. Robotics and Autonomous Systems. 18:(4):1996;395-410.
22. Lawson C.L., Hanson R.J. Solving Least Squares Problems. 1974;Prentice-Hall, Englewood Cliffs, NJ.
23. Zhuang H., Roth Z.S., Hamano F. Observability issues in kinematic identification of manipulators. Journal of Dynamic Systems, Measurement and Control. 114:(2):1992;319-322.
24. Nahvi A., Hollerbach J.M. The noise amplification index for optimal pose selection in robot calibration. Proceedings of the IEEE International Conference on Robotics and Automation: 1996;647-654.