Institute of Assembly Technology and Robotics Research Publications
Parallel Robot Calibration Utilizing Adaptronic Joints

Parallel Robot Calibration Utilizing Adaptronic Joints

Categories Konferenz (reviewed)
Year 2008
Authors Last, P.; Raatz, A.; Hesselbach, J.; Pavlovic, N.; Keimer, R.
Published in ASME 32nd Annual Mechanisms and Robotics Conference , Brooklyn, New York, USA, 2008

Model based geometric calibration is well known to be an efficient way to enhance absolute accuracy of robotic systems. Generally its application requires redundant measurements, which are achieved by external metrology equipment in most traditional calibration techniques. However, these methods are usually time-consuming, expensive and inconvenient. Thus, so-called self-calibration methods have achieved attention from researchers, which either use internal sensors or rely on mechanical constraints instead. In this paper a new self-calibration technique is presented for parallel robots which is motivated by the idea of constrained calibration. The new approach utilizes a special machine component called the adaptronic swivel joint in order to achieve the required redundant information. Compared to similar approaches it offers several advantages. The new cal- ibration scheme is described and verified in simulation studies using a RRRRR-structure as an example.

ISBN 978-0-7918-3831-0
DOI 10.1115/DETC2008-49918