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  • Rapid and automatic zero-offset calibration of a 2-DOF parallel robot based on a new measuring mechanism
    Mei, Jiangping ...
    This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new ... measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved
    Vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 63, no. 12, Dec. 2017, str. 715-724, SI 106)
    Vrsta gradiva - članek, sestavni del ; neleposlovje za odrasle
    Leto - 2017
    Jezik - angleški
    COBISS.SI-ID - 15800603

    Povezava(-e):

    http://www.sv-jme.eu/?ns_articles_pdf=/ns_articles/files/ojs/4529/public/4529-25802-1-PB.pdf&id=3389
    Digitalna knjižnica Slovenije - dLib.si
    DOI

vir: Strojniški vestnik = Journal of mechanical engineering. - ISSN 0039-2480 (Vol. 63, no. 12, Dec. 2017, str. 715-724, SI 106)

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