Study of Kinematic Calibration Method for Parallel Mechanism (3rd Report). Gravity Compensation and Kinematic Calibration Considering Gravity.

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structu...

Identifiable Parameters for Parallel Robots Kinematic Calibration

This paper presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. N...

Kinematic Calibration of a Cartesian Parallel Manipulator

Abstract: In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for...

The Calibration Index and Taxonomy for Robot Kinematic Calibration Methods

The major approaches toward kinematic calibration are unified by considering an end-point measurement system as forming a joint and closing the kinematic loop. A calibration index is introduced, based on the mobility equation, that considers sensed and unsensed joints and single and multiple loops and expresses the surplus of measurements over degrees of freedom at each pose. Past work using op...

Calibration of Parallel Kinematic Machines: Theory and Applications