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Study on the Identifiable Parameters and Optimum Postures for Calibrating Parallel Manipulators
박종혁(Jong-Hyuck Park),김성관(Sung-Gaun Kim),압둘라우프(Abdul Rauf),류제하(Jeha Ryu) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and<br/> installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed.<br/> This paper investigates identifiable parameters and optimum postures for four different calibration procedures<br/> . measuring postures completely with inverse kinematic residuals, measuring postures completely with<br/> forward kinematics residuals, measuring only the three position components, and restraining the mobility of<br/> the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel<br/> HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete<br/> posture measurements. For the case of position measurements, one and for the case of constraint link, three<br/> parameters were found non-identifiable. Selecting postures for measurement is also an important issue for<br/> efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to<br/> find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of<br/> the search space.
Experimental Results on Kinematic Calibration of Parallel Manipulator using 6 DOF Measurement Device
압둘 라우프(Abdul Rauf),아슬람 퍼베즈(Aslam Pervez),김현호(Hyunho Kim),류제하(Jeha Ryu) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.