Calibration method with simplified measurement for parallel mechanism

Wataru Tanaka; Tatsuo Arai; Kenji Inoue; Yasushi Mae; Yoshihiko Koseki

doi:10.1299/kikaic.71.206

Calibration method with simplified measurement for parallel mechanism

Wataru Tanaka^*
, Tatsuo Arai
, Kenji Inoue
, Yasushi Mae
, Yoshihiko Koseki

^*Corresponding author for this work

School of Mechatronical Engineering

The University of Osaka

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

This paper proposes a kinematic calibration method with simplified measurement for parallel mechanism. Since it is difficult to measure full 6 degrees of freedom of the end-effector accurately, especially orientation, the calibration method which uses as little orientation measurement as possible is discussed with simulations and experiments for a rotary type parallel mechanism. The results show the calibration performance can be improved by increasing the position measurement when orientation measurements are reduced.

Original language	English
Pages (from-to)	206-213
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	71
Issue number	1
DOIs	https://doi.org/10.1299/kikaic.71.206
Publication status	Published - Jan 2005

Keywords

Absolute Accuracy
Calibration
Identification
Mechatronics and Robotics
Parallel Mechanism
Positioning

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10.1299/kikaic.71.206

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abstract = "This paper proposes a kinematic calibration method with simplified measurement for parallel mechanism. Since it is difficult to measure full 6 degrees of freedom of the end-effector accurately, especially orientation, the calibration method which uses as little orientation measurement as possible is discussed with simulations and experiments for a rotary type parallel mechanism. The results show the calibration performance can be improved by increasing the position measurement when orientation measurements are reduced.",

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author = "Wataru Tanaka and Tatsuo Arai and Kenji Inoue and Yasushi Mae and Yoshihiko Koseki",

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AU - Tanaka, Wataru

AU - Arai, Tatsuo

AU - Inoue, Kenji

AU - Mae, Yasushi

AU - Koseki, Yoshihiko

PY - 2005/1

Y1 - 2005/1

N2 - This paper proposes a kinematic calibration method with simplified measurement for parallel mechanism. Since it is difficult to measure full 6 degrees of freedom of the end-effector accurately, especially orientation, the calibration method which uses as little orientation measurement as possible is discussed with simulations and experiments for a rotary type parallel mechanism. The results show the calibration performance can be improved by increasing the position measurement when orientation measurements are reduced.

AB - This paper proposes a kinematic calibration method with simplified measurement for parallel mechanism. Since it is difficult to measure full 6 degrees of freedom of the end-effector accurately, especially orientation, the calibration method which uses as little orientation measurement as possible is discussed with simulations and experiments for a rotary type parallel mechanism. The results show the calibration performance can be improved by increasing the position measurement when orientation measurements are reduced.

KW - Absolute Accuracy

KW - Calibration

KW - Identification

KW - Mechatronics and Robotics

KW - Parallel Mechanism

KW - Positioning

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DO - 10.1299/kikaic.71.206

M3 - Article

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JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

IS - 1

ER -

Calibration method with simplified measurement for parallel mechanism

Abstract

Keywords

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