Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

École des Mines de Nantes（南特矿业学院）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）

Anatoly Pashkevich, Damien Chablat, Philippe Wenger

发表信息：: Mechatronics 19, 4 (2009) 478-488

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The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a simple and low-cost measuring system, which evaluates deviation of the leg location during motions that are assumed to preserve the leg parallelism for the nominal values of the manipulator parameters. Using the measured deviations, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be identified. The validity of the proposed calibration method and efficiency of the developed numerical algorithms are confirmed by experimental results. The sensitivity of the measurement methods and the calibration accuracy are also studied.

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