Vision-based self-calibration and control of parallel kinematic mechanisms without proprioceptive sensing
نویسندگان
چکیده
منابع مشابه
Vision-based self-calibration and control of parallel kinematic mechanisms without proprioceptive sensing
This work is a synthesis of our experience over parallel kinematic machine control, which aims at changing the standard conceptual approach to this problem. Indeed, since the task space, the state space and the measurement space can coincide in this class of mechanism, we came to redefine the complete modeling, identification and control methodology. Thus, it is shown in this paper that, generi...
متن کاملOptimal pose selection for vision-based kinematic calibration of parallel mechanisms
In this paper, a new pose selection criterion for the kinematic calibration of parallel mechanisms is proposed. It enables one to take into account the measurement noise amplification that may occur for parallel mechanisms, as well as the variation of amplitude and anisotropy of the measuring device accuracy. This new criterion is applied to vision-based calibration of an Orthoglide mechanism, ...
متن کاملKinematic 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...
متن کاملVision-based kinematic calibration of an H4 parallel mechanism: practical accuracies
In this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end-effector pose has to be measured with the utterst accuracy. Thus, we first evaluate the practical accuracy of ou...
متن کاملOn Vision-based Kinematic Calibration of a Stewart-Gough Platform
In this article, we propose a vision-based kinematic calibration algorithm for Stewart-Gough parallel structures. Information on the position and orientation of the mechanism legs is extracted from the observation of these kinematic elements with a standard camera. No workspace limitation, nor installation of additional proprioceptive sensors are required. The algorithm is composed of two steps...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Intelligent Service Robotics
سال: 2009
ISSN: 1861-2776,1861-2784
DOI: 10.1007/s11370-009-0034-y