KINEMATIC IDENTIFICATION OF PARALLEL MECHANISMS BY A DIVIDE AND CONQUER STRATEGY

Sebastián Durango, David Restrepo, Oscar Ruiz, John Restrepo-Giraldo, Sofiane Achiche

Abstract

This paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms. The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism. The estimation of the kinematic parameters is performed using the inverse calibration method. The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix. With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results. The contributions of the paper are: (i) The formalization of the inverse calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy. As an application of the proposed kinematic identification protocol the identification of a planar 5R symmetrical mechanism is simulated. The performance of the calibrated mechanism is evaluated by updating the kinematic model with the estimated parameters and developing simulations.

References

  1. Besnard, S. and Khalil, W. (2001). Identifiable parameters for parallel robots kinematic calibration. In IEEE International Conference on Robotics and Automation, 2001. Proceedings 2001 ICRA, volume 3.
  2. Cervantes-Sánchez, J. J., Hernández-Rodríguez, J. C., and Angeles, J. (2001). On the kinematic design of the 5r planar, symmetric manipulator. Mechanism and Machine Theory, 36(11-12):1301 - 1313.
  3. Cervantes-Sánchez, J. J., Hernández-Rodríguez, J. C., and Rendón-Sánchez, J. G. (2000). On the workspace, assembly configurations and singularity curves of the rrrrr-type planar manipulator. Mechanism and Machine Theory, 35(8):1117 - 1139.
  4. Daney, D., Lorraine, I., and LORIA, V. (2002). Optimal measurement configurations for Gough platform calibration. In IEEE International Conference on Robotics and Automation, 2002. Proceedings. ICRA'02, volume 1.
  5. Daney, D., Papegay, Y., and Madeline, B. (2005). Choosing measurement poses for robot calibration with the local convergence method and Tabu search. The International Journal of Robotics Research, 24(6):501.
  6. Hollerbach, J., Khalil, W., and Gautier, M. (2008). Springer Handbook of Robotics, Model Identification. Springer.
  7. Hollerbach, J. and Wampler, C. (1996). The calibration index and taxonomy for robot kinematic calibration methods. The International Journal of Robotics Research.
  8. Jang, J., Kim, S., and Kwak, Y. (2001). Calibration of geometric and non-geometric errors of an industrial robot. Robotica, 19(03):311-321.
  9. Liu, X., Wang, J., and Pritschow, G. (2006a). Kinematics, singularity and workspace of planar 5r symmetrical parallel mechanisms. Mechanism and Machine Theory, 41(2):145 - 169.
  10. Liu, X., Wang, J., and Pritschow, G. (2006b). Performance atlases and optimum design of planar 5r symmetrical parallel mechanisms. Mechanism and Machine Theory, 41(2):119 - 144.
  11. Liu, X., Wang, J., and Zheng, H. (2006c). Optimum design of the 5r symmetrical parallel manipulator with a surrounded and good-condition workspace. Robotics and Autonomous Systems, 54(3):221 - 233.
  12. Merlet, J. (2006). Parallel Robots. Springer Netherlands, second edition.
  13. Renaud, P., Vivas, A., Andreff, N., Poignet, P., Martinet, P., Pierrot, F., and Company, O. (2006). Kinematic and dynamic identification of parallel mechanisms. Control Engineering Practice, 14(9):1099-1109.
  14. Ryu, J. and Rauf, A. (2001). A new method for fully autonomous calibration of parallel manipulators using a constraint link. In 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2001. Proceedings, volume 1.
  15. Sun, Y. and Hollerbach, J. (2008). Active robot calibration algorithm. In Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, pages 1276- 1281.
  16. Tsai, L. (1999). Robot analysis: the mechanics of serial and parallel manipulators. Wiley-Interscience.
  17. Zhuang, H., Yan, J., and Masory, O. (1998). Calibration of Stewart platforms and other parallel manipulators by minimizing inverse kinematic residuals. Journal of Robotic Systems, 15(7).
Download


Paper Citation


in Harvard Style

Durango S., Restrepo D., Ruiz O., Restrepo-Giraldo J. and Achiche S. (2010). KINEMATIC IDENTIFICATION OF PARALLEL MECHANISMS BY A DIVIDE AND CONQUER STRATEGY . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 167-173. DOI: 10.5220/0002911901670173


in Bibtex Style

@conference{icinco10,
author={Sebastián Durango and David Restrepo and Oscar Ruiz and John Restrepo-Giraldo and Sofiane Achiche},
title={KINEMATIC IDENTIFICATION OF PARALLEL MECHANISMS BY A DIVIDE AND CONQUER STRATEGY},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={167-173},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002911901670173},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - KINEMATIC IDENTIFICATION OF PARALLEL MECHANISMS BY A DIVIDE AND CONQUER STRATEGY
SN - 978-989-8425-01-0
AU - Durango S.
AU - Restrepo D.
AU - Ruiz O.
AU - Restrepo-Giraldo J.
AU - Achiche S.
PY - 2010
SP - 167
EP - 173
DO - 10.5220/0002911901670173