CALIBRATION OF QUASI-ISOTROPIC PARALLEL KINEMATIC MACHINES: ORTHOGLIDE

Anatoly Pashkevich, Roman Gomolitsky, Philippe Wenger, Damien Chablat

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.

References

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Paper Citation


in Harvard Style

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 2: ICINCO, ISBN 978-972-8865-83-2, pages 84-91. DOI: 10.5220/0001646000840091


in Bibtex Style

@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 2: ICINCO,},
year={2007},
pages={84-91},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001646000840091},
isbn={978-972-8865-83-2},
}


in EndNote Style

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