CALIBRATION OF QUASI-ISOTROPIC PARALLEL KINEMATIC MACHINES: ORTHOGLIDE

Anatoly Pashkevich; Roman Gomolitsky; Philippe Wenger; Damien Chablat

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Paper

CALIBRATION OF QUASI-ISOTROPIC PARALLEL KINEMATIC MACHINES: ORTHOGLIDE

Topics: Robot Design, Development and Control

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 84-91, 2007 , Angers, France

Authors: Anatoly Pashkevich ¹ ; Roman Gomolitsky ¹ ; Philippe Wenger ² and Damien Chablat ²

Affiliations: ¹ Belarusian State University of Informatics and Radioelectronics, Belarus ; ² Institut de Recherche en Communications et Cybernétique de Nantes, France

Keyword(s): Parallel robots, calibration, parameter identification, error compensation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.

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Paper citation in several formats:

Pashkevich, A.; Gomolitsky, R.; Wenger, P. and Chablat, D. (2007). CALIBRATION OF QUASI-ISOTROPIC PARALLEL KINEMATIC MACHINES: ORTHOGLIDE. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 84-91. DOI: 10.5220/0001646000840091

@conference{icinco07,
author={Anatoly Pashkevich. and Roman Gomolitsky. and Philippe Wenger. and Damien Chablat.},
title={CALIBRATION OF QUASI-ISOTROPIC PARALLEL KINEMATIC MACHINES: ORTHOGLIDE},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={84-91},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001646000840091},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - CALIBRATION OF QUASI-ISOTROPIC PARALLEL KINEMATIC MACHINES: ORTHOGLIDE
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Pashkevich, A.
AU - Gomolitsky, R.
AU - Wenger, P.
AU - Chablat, D.
PY - 2007
SP - 84
EP - 91
DO - 10.5220/0001646000840091
PB - SciTePress