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Latest Advances in Robot Kinematics pp 75–82Cite as

Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points

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Abstract

In this paper a novel self-calibration method for redundantly actuated parallel manipulators (RA-PKM) is proposed. It does not require external measurements or encoders in passive joints but only uses actuator joint measurements. The method uses motion reversal points (MRP) as calibration landmarks. MRP are characterized by vanishing velocity of one actuator while the RA-PKM performs a continuous motion. In other word the MRP are the input-singularities of an associated non-redundantly actuated PKM. The general calibration concept is introduced in the paper and applied to a planar 4RPR RA-PKM. Numerical simulation results are presented that confirm the feasibility of this method. The selection of appropriate MRP is briefly discussed.

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Authors and Affiliations

  1. Institute of Mechatronics, Chemnitz, Germany

    Andreas Müller

  2. Department of mechanical engineering, University Cagliari, Cagliari, Italy

    Maurizio Ruggiu

Authors
  1. Andreas Müller
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  2. Maurizio Ruggiu
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Correspondence to Andreas Müller .

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Editors and Affiliations

  1. J. Stefan Institute, Jamova 39, Ljubljana-Vic-Rudnik, 1000, Slovenia

    Jadran Lenarcic

  2. Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Technikerstr. 13, Innsbruck, 6020, Austria

    Manfred Husty

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Müller, A., Ruggiu, M. (2012). Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_10

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  • DOI: https://doi.org/10.1007/978-94-007-4620-6_10

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4619-0

  • Online ISBN: 978-94-007-4620-6

  • eBook Packages: EngineeringEngineering (R0)

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