In this paper, a new method for optimal calibration of parallel kinematic machines (PKMs) is presented. The basis of the methodology is to exploit the least error sensitive regions in the workspace to yield optimal calibration. To do so, an error model is developed that takes into consideration all the geometric errors due to imprecision in manufacturing and assembly. Based on this error model, it is shown that the error mapping from the geometric errors to the pose error of the PKM depends on the Jacobian inverse. The Jacobian inverse would introduce spurious errors that would affect the calibration results, if used without proper care. Hence, areas in the workspace with smaller condition numbers are selected for calibration. Simulations and experiments are presented to show the effectiveness of the proposed method. Calibration software based on the proposed method has been embedded in the tripod developed at the National Research Council of Canada’s Integrated Manufacturing Technologies Institute.
Skip Nav Destination
e-mail: fengxi@Ryerson.ca
Article navigation
January 2005
Technical Papers
Optimal Calibration of Parallel Kinematic Machines
Marcel Verner,
Marcel Verner
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, ON N6G 4X8, Canada
Search for other works by this author on:
Fengfeng Xi,
e-mail: fengxi@Ryerson.ca
Fengfeng Xi
Department of Mechanical, Aerospace and Industrial Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
Search for other works by this author on:
Chris Mechefske
Chris Mechefske
Department of Mechanical and Materials Engineering, Queen’s University, Kingston, ON K7L 3N6, Canada
Search for other works by this author on:
Marcel Verner
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, ON N6G 4X8, Canada
Fengfeng Xi
Department of Mechanical, Aerospace and Industrial Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
e-mail: fengxi@Ryerson.ca
Chris Mechefske
Department of Mechanical and Materials Engineering, Queen’s University, Kingston, ON K7L 3N6, Canada
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received November 7, 2003; revised April 30, 2004. Associate Editor: M. Raghavan.
J. Mech. Des. Jan 2005, 127(1): 62-69 (8 pages)
Published Online: March 2, 2005
Article history
Received:
November 7, 2003
Revised:
April 30, 2004
Online:
March 2, 2005
Citation
Verner, M., Xi, F., and Mechefske, C. (March 2, 2005). "Optimal Calibration of Parallel Kinematic Machines ." ASME. J. Mech. Des. January 2005; 127(1): 62–69. https://doi.org/10.1115/1.1828461
Download citation file:
Get Email Alerts
Related Articles
Autonomous Calibration of Hexapod Machine Tools
J. Manuf. Sci. Eng (February,2000)
A Self-Calibration Method for Robotic Measurement System
J. Manuf. Sci. Eng (February,2000)
Kinematic Calibration for Redundantly Actuated Parallel Mechanisms
J. Mech. Des (March,2004)
Calibration of Palletized Workpiece Systems for Microfactories
J. Manuf. Sci. Eng (June,2008)
Related Proceedings Papers
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
A Vision-Based Kinematic Calibration for Pick-and-Place Robot
International Conference on Information Technology and Management Engineering (ITME 2011)
Analysis the Effect of IMU Calibration Errors on SINS/GPS Integration Accuracy for Airborne Earth Observation
International Symposium on Information Engineering and Electronic Commerce, 3rd (IEEC 2011)