Pose Measurement of Parallel Kinematic Machines with Serial Link Measuring System
- 697 Downloads
For higher accuracy of parallel kinematic robots and machine tools in particular, several error models and compensation algorithms have been developed. The paper presents the approach for testing and control of Stewart platform-based machine tools and robots. The approach is based on serial link measuring system with six DOF in general, which may be used as an autonomous measuring device or in symbiosis with parallel kinematic machines to achieve Cartesian-based control schemes. Developed approach is demonstrated and verified on the example of developed planar parallel simulator with three DOF.
KeywordsPosition and Orientation Measurement Error Correction Feedback Control
Unable to display preview. Download preview PDF.
- 5.Ropponen T, Arai T 1995 Accuracy Analysis of a Modified Stewart Platform Manipulator. Proceedings of 1995 IEEE Int. Conference on Robotics and Automation, Vol I, pp 521 –525Google Scholar
- 6.Geng Z J, Haynes L S 1994 A “3-2-1” Kinematic Configuration of a Stewart Platform and Its Application to Six Degree of Freedom Pose Measurements. Journal of Robotics & CIM 11(1): 23–34Google Scholar
- 8.Arai T, Cleary K, Nakamura T, Adachi H, Homma K 1990 Design, Analysis and Construction of a Prototype Parallel Link Manipulator. Proceedings of the IEEE International Workshop on Intelligent Robots and Systems, IROS ’90, pp 205–212Google Scholar
- 10.Milutinovic D S, Glavonjic M, Serial link Measuring System - Based Approach for Testing and Control of Stewart Platform — Based Machines. Proceedings of The Fourth ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, pp 288–293Google Scholar