For kinematic calibration of robots, we proposed using a low order Fourier series obtained by transforming the data for circular measurement paths. The errors of the realized paths were measured using a Double-Ball-Bar (DBB) system. Two nondimensional indices were proposed for evaluating the orthogonalities of the measurement paths and calibration parameters. An index was also proposed to evaluate the accuracy of the calibration with regard to measurement error. An algorithm for determining adequate measurement paths and an optimal set of a specified number of paths using these indices was also proposed. The effectiveness of the proposed method, indices, and algorithm was investigated through simulations and experiments with an experimental 6 dof in-parallel actuated worktable that we developed.
A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series
Contributed by the Mechanisms and Robotics Committee for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received Jan. 2003; rev. Feb. 2004. Associate Editor: C. Mavroidis.
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Takeda, Y., Shen, G., and Funabashi, H. (October 28, 2004). "A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series ." ASME. J. Mech. Des. September 2004; 126(5): 856–865. https://doi.org/10.1115/1.1767822
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