CalibrationofaParallelRobot.PDFVIP

Calibration of a Parallel Robot Using Multiple Kinematic Closed Loops Ali Nahvi, John M. Hollerbach Vincent Hayward Biorobotics Laboratory McGill Center for Intelligent Machines McGill tliiiversit McGill ITniversit 3775 Universit d 3480 Iiniversit 6 Montreal, Quebec 83A*2B4 Montreal, Quebec 83A. 2A7 Abstract A method as presented for autonomous kanematzc calzbratzon of a 3-DOF redundant parallel robot. Mul- taple closed loops are used an a least squares optamzza- iaon method. Ill-condataonang, column scalang of the gradzeni matrax, and obseraabalaty andaces for the best pose set of robot calzbratzon configurataons are das- cussed. Ezperamental results are presented and com- pared wath the results iiszng an external calzbratzon de- vace. 1 Introduction Recently, it has been shown that single-loop closed chains can be kinematically calibrated using joint an- gle readings alone [l . By placement of the closed chain into a number otl configurations, consistency con- dit,ions permit, the kinematic parameters t,o be extzact- ed. Autonomous calibration is particularly useful for a number of reasons, nominal accuracy being only one of t8hem.For example, in case of repair, replacement of a displacement sensor typically leaves the device uncal- ibrated since the origin may not be precisely known. With this technique, the device can regain its origi- nal accuracv without external calibration devices. Au- tonomous calibration is a technique to uphold nominal accuracy over extended periods of operation without Figure 1: 3-DO F redundant shoulder joint. maintenance. A 6-DOF Hand C