Relative posture-based kinematic calibration of a 6-RSS parallel robot by optical coordinate measurement machine

International Journal of Advanced Robotic Systems

PengchengLi¹ 

关键词: Parallel robot;    calibration;    optical sensor;    kinematic analysis;   

DOI  :  10.1177/1729881418765861

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this article, a relative posture-based algorithm is proposed to solve the kinematic calibration problem of a 6-RSS parallel robot using the optical coordinate measurement machine system. In the research, the relative posture of robot is estimated using the detected pose with respect to the sensor frame through several reflectors which are fixed on the robot end-effector. Based on the relative posture, a calibration algorithm is proposed to determine the optimal error parameters of the robot kinematic model and external parameters introduced by the optical sensor. This method considers both the position and orientation variations and does not need the accurate location information of the detection sensor. The simulation results validate the superiority of the algorithm by comparing with the classic implicit calibration method. And the experimental results demonstrate that the proposal relative posture-based algorithm using optical coordinate measurement machine is an implementable and effective method for the parallel robot calibration.

【 授权许可】

CC BY