Simplified kinematic calibration for a class of parallel mechanism

Wataru Tanaka; Tatsuo Arai; Kenji Inoue; Yasushi Mae; Choong Sik Park

doi:10.1109/ROBOT.2002.1013406

Simplified kinematic calibration for a class of parallel mechanism

Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Yasushi Mae, Choong Sik Park

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

8 Citations (Scopus)

Abstract

Calibration methods and parameter estimation analyses of a class of parallel mechanisms are discussed in order to achieve a nano-motion stage applied in the machining of high quality optical devices. The paper includes mechanical structure of Delta type parallel mechanism, its kinematics analyses for calibration, two calibration methods and their comparisons in the aspects of parameter errors, final achieved accuracy and simple procedure. Exclusion of orientation data will be also discussed for the simplicity of measurements in the calibration procedure.

Original language	English
Pages (from-to)	483-488
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/ROBOT.2002.1013406
Publication status	Published - May 2002
Externally published	Yes

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Tanaka, W., Arai, T., Inoue, K., Mae, Y., & Park, C. S. (2002). Simplified kinematic calibration for a class of parallel mechanism. Proceedings - IEEE International Conference on Robotics and Automation, 1, 483-488. https://doi.org/10.1109/ROBOT.2002.1013406

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author = "Wataru Tanaka and Tatsuo Arai and Kenji Inoue and Yasushi Mae and Park, {Choong Sik}",

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AU - Tanaka, Wataru

AU - Arai, Tatsuo

AU - Inoue, Kenji

AU - Mae, Yasushi

AU - Park, Choong Sik

PY - 2002/5

Y1 - 2002/5

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AB - Calibration methods and parameter estimation analyses of a class of parallel mechanisms are discussed in order to achieve a nano-motion stage applied in the machining of high quality optical devices. The paper includes mechanical structure of Delta type parallel mechanism, its kinematics analyses for calibration, two calibration methods and their comparisons in the aspects of parameter errors, final achieved accuracy and simple procedure. Exclusion of orientation data will be also discussed for the simplicity of measurements in the calibration procedure.

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JO - Proceedings - IEEE International Conference on Robotics and Automation

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ER -

Simplified kinematic calibration for a class of parallel mechanism

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