Calibration of A 2-DOF planar parallel robot: Home position identification and experimental verification

Qingyong Ding; Lining Sun; Junhong Ji; Lemin Zhang

Calibration of A 2-DOF planar parallel robot: Home position identification and experimental verification

Qingyong Ding^*
, Lining Sun
, Junhong Ji
, Lemin Zhang

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99mm to less than 0.1mm.

Original language	English
Title of host publication	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Pages	510-515
Number of pages	6
State	Published - 2005
Event	IEEE International Conference on Mechatronics and Automation, ICMA 2005 - Niagara Falls, ON, Canada Duration: 29 Jul 2005 → 1 Aug 2005

Publication series

Name	IEEE International Conference on Mechatronics and Automation, ICMA 2005

Conference

Conference	IEEE International Conference on Mechatronics and Automation, ICMA 2005
Country/Territory	Canada
City	Niagara Falls, ON
Period	29/07/05 → 1/08/05

Keywords

Calibration
Iterative method
Nonlinear regression
Planar parallel robot

Cite this

@inproceedings{a0c48e6cb4e94402aecdcd91f2bd6e28,

title = "Calibration of A 2-DOF planar parallel robot: Home position identification and experimental verification",

abstract = "This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99mm to less than 0.1mm.",

keywords = "Calibration, Iterative method, Nonlinear regression, Planar parallel robot",

author = "Qingyong Ding and Lining Sun and Junhong Ji and Lemin Zhang",

year = "2005",

language = "英语",

isbn = "0780390458",

series = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

pages = "510--515",

booktitle = "IEEE International Conference on Mechatronics and Automation, ICMA 2005",

note = "IEEE International Conference on Mechatronics and Automation, ICMA 2005 ; Conference date: 29-07-2005 Through 01-08-2005",

}

Ding, Q, Sun, L , Ji, J & Zhang, L 2005, Calibration of A 2-DOF planar parallel robot: Home position identification and experimental verification. in IEEE International Conference on Mechatronics and Automation, ICMA 2005. IEEE International Conference on Mechatronics and Automation, ICMA 2005, pp. 510-515, IEEE International Conference on Mechatronics and Automation, ICMA 2005, Niagara Falls, ON, Canada, 29/07/05.

Calibration of A 2-DOF planar parallel robot: Home position identification and experimental verification. / Ding, Qingyong; Sun, Lining ; Ji, Junhong et al.
IEEE International Conference on Mechatronics and Automation, ICMA 2005. 2005. p. 510-515 (IEEE International Conference on Mechatronics and Automation, ICMA 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Calibration of A 2-DOF planar parallel robot

T2 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

AU - Ding, Qingyong

AU - Sun, Lining

AU - Ji, Junhong

AU - Zhang, Lemin

PY - 2005

Y1 - 2005

N2 - This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99mm to less than 0.1mm.

AB - This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99mm to less than 0.1mm.

KW - Calibration

KW - Iterative method

KW - Nonlinear regression

KW - Planar parallel robot

UR - https://www.scopus.com/pages/publications/27744512597

M3 - 会议稿件

AN - SCOPUS:27744512597

SN - 0780390458

T3 - IEEE International Conference on Mechatronics and Automation, ICMA 2005

SP - 510

EP - 515

BT - IEEE International Conference on Mechatronics and Automation, ICMA 2005

Y2 - 29 July 2005 through 1 August 2005

ER -

Calibration of A 2-DOF planar parallel robot: Home position identification and experimental verification

Abstract

Publication series

Conference

Keywords

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