Error reduction for an inertial-sensor-based dynamic parallel kinematic machine positioning system

Measurement Science and Technology

Volumn 14, Issue 5, 2003, Pages 543-550

  Gao, J ^a   Webb, P ^a   Gindy, N ^a  

^a UNIVERSITY OF NOTTINGHAM   (United Kingdom)

Author keywords

Bias error model; Error reduction; Inertial sensors; Low pass filtering; Parallel kinematic machine (PKM); Tool centre point (TCP) measurement; Velocity reconstruction

Indexed keywords

ACCELEROMETERS; DATA REDUCTION; ERROR DETECTION; KINEMATICS; STRUTS; VELOCITY MEASUREMENT;

PARALLEL KINEMATIC MACHINES (PKM);

SENSORS;

KINEMATICS;

EID: 0037985393     PISSN: 09570233     EISSN: None     Source Type: Journal    
DOI: 10.1088/0957-0233/14/5/302     Document Type: Article

References (16)

1. Whittingham B D et al 1998 Capabilities of parallel link machine tools: preliminary investigations of the Variax Hexacenterä ASME Int. Mechanical Engineering Congr. Exposition, Anaheim, CA ed J Lee (New York: ASME)
2. Soons J A 1997 Error analysis of a hexapod machine tool Lambdamap '97: 3rd Int. Conf. and Exhibition on Laser Metrology and Machine Performance (July 1997) pp 347-58
3. Janocha H and Diewald B 1995 ICAROS: over-all-calibration of industrial robots Ind. Robot 22 15-20
4. 4 Application of Ring Laser Gyros to Precision Machine Tools (Minneapolis, MN: Honeywell Technology Center)
5. Barshan B and Durrant-Whyte H F 1995 Inertial navigation systems for mobile robots IEEE Trans. Robot. Autom. 11 328-42
6. Gao J 2002 Dynamic position sensing for parallel kinematic machine PhD Thesis The University of Nottingham
7. Teukolsky S A and Press W H 1988 Numerical Recipes in C (Cambridge: Cambridge University Press) pp 540-7
8. Barshan B and Durrant-Whyte H F 1998/93 Inertial Navigation Systems for Mobile Robots (Oxford: Oxford University Press)
9. Box G E P and Jenkins G M 1976 Time Series Analysis: Forecasting and Control (San Francisco, CA: Holden-Day)
10. Trujillo D M and Carter A L 1982 A new approach to the integration of accelerometer data Earthq. Eng. Struct. Dyn. 10 529-35
11. Cheok K C, Overholt J L and Beck R R 1993 Exact methods for determining the kinematics of a stewart platform using additional displacement sensors J. Robot. Syst. 10 689-707
12. Whittingham B 2001 Applications of the kinematic modelling of a parallel kinematic mechanism machine tool PhD Thesis The University of Nottingham
13. Griffis M and Duffy J 1989 A forward displacement analysis of a class of Stewart platform J. Robot. Syst. 6 703-20
14. Liu K et al 1992 Control of a Stewart-platform-based robotic machining cell Winter Annu. Mtg ASME Proc. ASME Advanced Control Issues for Robotic Manipulators, ASME Dynamic Systems (Anaheim, CA, Nov. 1992)
15. Zhang C and Song S 1991 Forward kinematics of a class of parallel (Stewart) platforms with closed-form solution Proc. IEEE Int. Conf. on Robotics and Automation pp 2676-81
16. Shi X and Fenton R G 1994 A complete and general solution to the forward kinematics problem of platform-type robotic manipulators Proc. IEEE Int. Conf. on Robotics and Automation vol 4 pp 3050-62