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An improved kinematic model for calibration of serial robots having closed-chain mechanisms

Published online by Cambridge University Press:  17 November 2011

Minh To  and
Phil Webb
Minh To*
Affiliation:
School of Engineering, Cranfield University, Cranfield, Bedfordshire, UK
Phil Webb
Affiliation:
School of Engineering, Cranfield University, Cranfield, Bedfordshire, UK
*
*Corresponding author. Email: m.h.to@cranfield.ac.uk
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Summary

Many industrial robots employ closed-loop actuating elements such as the parallelogram mechanism for increased stiffness. Modeling these manipulators for the purpose of calibration presents a challenge due to complex nonlinear couplings between parameters of the chains. The modeling method presented in this paper involves the integration of the open- and closed-loop elements whose errors can be resolved as linear functions of their parameters. As a result, the model is similar to that of a serial-link robot, which makes it possible to use existing well-defined calibration techniques in the area. Simulation and experimental studies on an industrial robot for verifying the correctness and effectiveness of the proposed model are also described.

Keywords

Kinematic identificationClosed-chain mechanismParallelogram structure
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 963 - 971
Copyright
Copyright © Cambridge University Press 2011

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