Skip to main content
SpringerLink
Log in

Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks

  • Conference paper
  • First Online:
Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Bennett, D.J., Hollerbach, J.M.: Autonomous calibration of a single loop closed kinematic chain formed by manipulators with passive endpoint constraints. IEEE T. Rob. Aut. 7(5), 597–606 (1991)

    Google Scholar 

  2. Cong, S., et al.: Kinematic Parameters Auto-Calibration of Redundant Planar 2-Dof Parallel Manipulator. Parallel Manipulators, New Developments. I-Tech Publishing, Vienna (2008)

    Google Scholar 

  3. Gosselin, C., Angeles, J.: Singularity analysis of closed loop kinematic chains. IEEE Trans. Rob. Automat. 6(3), 281–290 (1990)

    Google Scholar 

  4. Hollerbach, J.M., Wampler, C. W.: The calibration index and taxonomy for robot kinematic calibration methods. Int. J. Rob. Res. 15(6), 573–591 (1996)

    Google Scholar 

  5. Khalil, W., Besnard, S.: Self-calibration of Stewart-Gough parallel robots without extra sensors. IEEE Trans. Rob. Autom. 15(6), 1116–1121 (1999)

    Google Scholar 

  6. Last, P., Budde, C., Hesselbach, J.: Self-calibration of the HEXA-parallel-structure. Proceedings of the IEEE International Conference Automation Science and Engineering (CASE), Edmonton, Canada, 1–2 Aug 2005

    Google Scholar 

  7. Last, P., Schütz, D., Raatz, A., Hesselbach, J.: Singularity based calibration of 3-DOF fully parallel planar manipulators. 12th IFToMM World Congress, France, 18–21 June 2007

    Google Scholar 

  8. Last, P., Raatz, A., Hesselbach, J.: Singularity-based calibration—a novel approach for absolute-accuracy enhancement of parallel robots. In: Lazinica A., Kawai H. (eds.) Robot Manipulators New Achievements. InTech Publishing, Vienna (2010)

    Google Scholar 

  9. Müller, A., Ruggiu, M.: Self-calibration of redundantly actuated PKM based on motion reversal points. In: Lenarcic J., Husty M. (eds.) Latest Advances in Robot Kinematics (ARK), Springer, Dordrecht (2012)

    Google Scholar 

  10. Nahvi, A., Hollerbach, J.M., Hayward V.: Calibration of parallel robot using multiple kinematic closed loops, IEEE ICRA (1994)

    Google Scholar 

  11. O‘Brien, S.M., Carretero, J.A., Last, P.: Self calibration of 3-PRS manipulator without redundant sensors. Trans. Can. Soc. Mech. Eng. 31(4), 483–494 (2007)

    Google Scholar 

  12. Ota, H. et. al.: Forward kinematic calibration method for parallel mechanism using pose data measured by a double ball bar system. Int. Conf. Parallel Kin. Mach. 57–62 (2000)

    Google Scholar 

  13. Rauf, A., Kim, S.G., Ryu, J.: Complete parameter identification of parallel manipulators with partial pose information using a new measurement device. Robotica 22(6), 689–695 (2004)

    Google Scholar 

  14. Rauf, A., Pervez, A., Ryu, J.: Experimental results on kinematic calibration of parallel manipulators using a partial pose measurement device. IEEE Trans. Rob. Control 22(2), 379–384 (2006)

    Google Scholar 

  15. Ryu, J., Rauf, A.: A new method for fully autonomous calibration of parallel manipulators using a constraint link. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Italy, 8–12 July 2001

    Google Scholar 

  16. Wampler, C.W., Hollerbach, J.M., Arai, T.: An implicit loop method for kinematic calibration and its application to closed-chain mechanisms. IEEE Trans. Robot. Autom. 11(5), 710–724 (1995)

    Google Scholar 

  17. Weck, M., Staimer, D.: Accuracy issues of parallel kinematic machine tools: compensation & calibration. International Conference on Parallel Kinematic Machines (2000)

    Google Scholar 

  18. Yiu, Y.K., Meng, J., Li, Z.X.: Auto-calibration for a parallel manipulator with sensor redundancy. Proceedings of the IEEE International Conference on Robotics Automation (ICRA), pp. 3660–3665. Taipei (2003)

    Google Scholar 

  19. Zhang, Y.X., Cong, S., Shang, W.W., Li, Z.X., Jiang, S.L.: Modeling, identification and control of a redundant planar 2-DOF parallel manipulator. Int. J. Control Aut. Sys. 5(5), 559–569 (2007)

    Google Scholar 

  20. Zhuang, H.: Self-calibration of parallel mechanisms with a case study on Stewart platforms. IEEE Trans. Rob. Autom. 13(3), 387–397 (1997)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Mechatronics, Chemnitz, Germany

    Andreas Müller

  2. Department of Mechanical Engineering, University of Cagliari, Cagliari, Italy

    Maurizio Ruggiu

Authors
  1. Andreas Müller
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Maurizio Ruggiu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Andreas Müller .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Science+Business Media Dordrecht

About this paper

Cite this paper

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

Download citation

  • DOI: https://doi.org/10.1007/978-94-007-7214-4_11

  • Published:

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation