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Research Papers

Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

[+] Author and Article Information
Chunshi Feng

Department of Automation, University of Science and Technology of China, Hefei 230027, P. R. Chinacsfeng@mail.ustc.edu.cn

Shuang Cong, Weiwei Shang

Department of Automation, University of Science and Technology of China, Hefei 230027, P. R. China

J. Mechanisms Robotics 1(3), 031003 (Jul 09, 2009) (6 pages) doi:10.1115/1.3147199 History: Received January 02, 2008; Revised February 08, 2009; Published July 09, 2009

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 2

The original and the translated poses

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Figure 4

The original and the scaled poses

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Figure 5

The mappings of the transformations and the influenced parameters

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Figure 3

The original and the rotated poses

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Figure 1

The mechanism of the manipulator

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