Auto-calibration of a redundant parallel manipulator based on the projected tracking error

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• 作者：Yaoxin Zhang ; Shuang Cong ; Zexiang Li and Shilong Jiang
• 关键词：Auto ; calibration ; Jacobian matrix ; Linear projection ; Parallel manipulator
• 刊名：Archive of Applied Mechanics (Ingenieur Archiv)
• 出版年：2007
• 出版时间：October, 2007
• 年：2007
• 卷：77
• 期：10
• 页码：697-706
• 全文大小：188 KB
• 刊物类别：Engineering
• 刊物主题：Theoretical and Applied Mechanics
  Mechanics
  Complexity
  Fluids
  Thermodynamics
  Systems and Information Theory in Engineering
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1432-0681

文摘

Utilizing the projected tracking error of the redundant joint angles, we studied the calibration problem of the sensor zero positions of a planar 2-dof parallel manipulator in this paper. Based on the study of the relationship between the projected tracking error of the joint angles and the error of the sensor zero positions, a new error function is proposed for the calibration of the sensor zero positions of the parallel manipulator. It is proved that the error function is robust to the measurement error of the joint sensors, so accurate calibration results can be obtained by minimizing the error function even if the measurement of the joint angles is not accurate. With a simple searching strategy for the minimal value of the error function, we designed an auto-calibration procedure and verified the validity of the calibration procedure through real experiments on a real redundant planar 2-dof parallel manipulator.