Geometric algorithms for kinematic calibration of robots containing closed loops

Journal of Mechanical Design

Volumn 125, Issue 1, 2003, Pages 23-32

  Iurascu C C ^a   Park, F C ^a  

^a Seoul National University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CALIBRATION; CLOSED LOOP CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); ERROR DETECTION; OPTIMIZATION; PROBLEM SOLVING;

KINEMATIC CALIBRATION;

ROBOTS;

EID: 18744423782     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.1539512     Document Type: Article

References (28)

1. Hollerbach, J. M., and Wampler, C. W., 1996, "A Taxonomy of Kinematic Calibration Methods," Int. J. Robot. Res., 14, pp. 573-591.
2. Koseki Y., Arai, T., Sugimoto, K., Takatuji, T., and Goto, M., 1998, "Design and Accuracy Evaluation of a High-Speed and High-Precision Parallel Mechanism," IEEE Int. Conference Robotics and Automation, Leuven, May, pp. 1340-1345.
3. Zhuang, H., Masory, O., and Yan, J., 1995, "Kinematic Calibration of Stewart Platform Using Pose Measurements Obtained by a Single Theodolite," Proc. IEEE/RSJ Int. Conference Intelligent Robots and Systems, Vol. 2, pp. 329-335.
4. Goswami, A., Quaid, A., and Peshkin, M., 1993, "Identifying Robot Parameters Using Partial Pose Information," IEEE Control Syst. Mag., 13(5), pp. 6-14.
5. Driels, M. R., 1993, "Using Passive Endpoint Motion Constraints to Calibrate Robot Manipulators," ASME J. Dyn. Syst., Meas., Control, 115, pp. 560-565.
6. Milan I., and Hollerbach, J. M., 1997, "Kinematic Calibration Using a Plane Constraint," Proc. IEEE Int. Conference Robotics and Automation, pp. 3191-3196.
7. Hollerbach, J. M., and Lokhorst, D. M., 1993, "Closed-Loop Kinematic Calibration of the RSI 6-DOF Hand Controller," Proc. IEEE Int. Conference Robotics and Automation, pp. 142-148.
8. Maurine, P., and Dombre, E., 1996, "A Calibration Procedure for the Parallel Robot Delta 4," Proc. IEEE Int. Conference Robotics and Automation, pp. 975-980.
9. Canapea, G., Hollerbach, J. M., and Boelen, S., 1994, "Kinematic Calibration by Means of a Triaxial Accelerometer," Proc. IEEE Int. Conference Robotics and Automation, San Diego, pp. 2776-2782.
10. Hollerbach, J. M., and Giugovaz, L., Buehler, M., and Xu, Y., 1993, "Screw Axis Measurement for Kinematic Calibration of the Sarcos Dextrous Arm," Proc. IEEE/RSJ Int. Conference Intelligent Robots and Systems, Yokohoma, pp. 1617-1621.
11. Wampler, C. W., and Arai, T., 1992, "Calibration of Robots Having Kinematic Closed Loops Using Non-Linear Least-Squares Estimation," Proc. IFTOMM Symposium, Nagayo, Japan, Sept. 24-26, Vol. 1, pp. 153-158.
12. Wampler, C. W., Hollerbach, J. M., and Arai, T., 1995, "An Implicit Loop Method for Kinematic Calibration and Its Application to Closed Chain Mechanisms," IEEE Trans. Rob. Autom., 11(5), pp. 710-724.
13. Bennett, D. J., and Hollerbach, J. M., 1989, "Autonomous Calibration of Single Loop Closed Kinematic Chain Formed by Manipulators With Passive Endpoint Constraints," IEEE Trans. Rob. Autom., 7(5), pp. 597-605.
14. Masory, O., Wang, J. and Zhuang, H., 1993, "On the Accuracy of a Stewart Platform-Part II, Kinematic Calibration and Compensation," IEEE Int. Conference Robotics and Automation, Atlanta, Vol. 1, pp. 725-731.
15. Maurine, P., Liu, D. M., and Uchiyama, M., 1998, "Self-Calibration of a New Hexa Parallel Robot," Proc. of the 4th Japan-France Congress and 2nd Asia-Europe Congress on Mechatronics, Kitakyushu, Japan, October, pp. 290-295.
16. Nahvi, A. N., Hollerbach, J. M., and Hayward, V., 1994, "Calibration of a Parallel Robot Using Multiple Kinematic Closed Loops," Proc. IEEE Int. Conference Robotics and Automation, pp. 142-148.
17. Zhuang, H., 1997, "Self-Calibration of Parallel Mechanism With a Case Study on Stewart Platform," IEEE Trans. Rob. Autom., 13(3), pp. 387-397.
18. Zhuang, H., Li, B., Roth, Z. S., and Xie, X., 1992, "Self-Calibration and Mirror Center Offset Elimination of a Multi-Beam Laser Tracking System," Rob. Auton. Syst., 9, pp. 255-269.
19. Zhuang, H., and Roth, Z. S., 1991, "A Method for Kinematic Calibration of Stewart Platforms," ASME Annual Winter Meeting, Atlanta, GA, pp. 43-48.
20. Zhuang, H., Masory, O., and Yan, J., 1998, "Calibration of Stewart Platform and Other Parallel Manipulators by Minimizing Inverse Kinematic Residuals," J. Rob. Syst., 15(7), pp. 395-405.
21. Iuraşcu, C. C., and Park, F. C., 1999, "Geometric Algorithms for Closed Chain Kinematic Calibration," Proc. IEEE Int. Conference Robotics and Automation, pp. 1752-1757.
22. Spivak, M., 1979, A Comprehensive Introduction to Differential Geometry, Publish or Perish, Inc., Berkeley.
23. Park, F. C., 1995, "Distance Metrics on the Rigid-Body Motions With Applications to Mechanism Design," J. Mech. Des., 117(1), pp. 48-54.
24. Kim, J., Park, F. C., Kim, J. W., and Hwang, J. C., 1998, "ECLIPSE: An Overactuated Parallel Mechanism for Rapid Machining," Proc. ASME IMECE Symp. Machine Tools, Anaheim, CA, November 15-20.
25. Ryu, S. J., Kim, J. W., Hwang, J. C., Park, C. B., Cho, H. S., Lee, K., Lee, Y., Iuraşcu, C., Park, F. C., and Kim, J., 1998, "ECLIPSE: An Overactuated Parallel Mechanism for Rapid Machining," First European-American Forum on Parallel Kinematic Machines, Theoretical Aspects and Industrial Requirements, Milano, August-September.
26. Kim, J., Park, F. C., Ryu, S. J., Kim, J., Hwang, J. C., Park, C., and Iurascu, C. C., 2001, "Design and Analysis of a Redundantly Actuated Parallel Mechanism for Rapid Machining," IEEE Trans. Rob. Autom., 17(4), August, pp. 423-434.
27. Optimization Toolbox User's Guide, 1993, The MathWorks, Inc.
28. Renishaw Ballbar User Guide, 1993, Renishaw.