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26 August 1999 Kinematic analysis and self-calibration of three-legged modular parallel robots
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A modular reconfigurable parallel robot is designed and constructed for precision assembly and light machining tasks using a set of standard actuator components. Kinematic calibration of the reconfigurable system is necessary to enhance its positioning accuracy. A kinematics calibration method is posed for a class of 3-legged reconfigurable parallel robots based on the local frame representation of the Product-of-Exponential formula. In this method, both revolute and prismatic joint axes can be uniformly expressed in the twist coordinates by their respective local link frames. Since these frames can be arbitrary defined on the links, we are able to redefine a set of new local frames to describe the actual kinematics of the robot in the presence of kinematic eros. The kinematics calibration becomes a procedure of identifying the newly defined frames. These new frames are then used to update the nominal pose of the mobile platform. The kinematic error model of the robot is formulated based on the theory of differential geometry. The complex optimization method is employ for the identification of the kinematic parameters. A simulation example of calibration a 3-legged modular parallel robot showed that the average positioning accuracy of the mobile platform improved significantly after calibration.
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Wee Kiat Lim, Guilin Yang, I-Ming Chen, and Song Huat Yeo "Kinematic analysis and self-calibration of three-legged modular parallel robots", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999);

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