Abstract
A self-calibration method for redundantly actuated parallel manipulators (RA-PKM) is proposed that uses motion reversal points (MRP) of actuators as kinematic calibration landmarks. The basic principle is to restrain a RA-PKM to 1 DOF and detect the MRP of redundant actuators. The difference of measured MRP and those deduced from a kinematic model embodies the calibration error. Therewith a numerical adaptation scheme is introduced. Simulation results for a 3 DOF RA-PKM confirm very high accuracy of the method.
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Müller, A., Ruggiu, M. (2014). Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_11
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DOI: https://doi.org/10.1007/978-94-007-7214-4_11
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