Combining End-Effector and Legs Observation for Kinematic Calibration of Parallel Mechanisms

Pierre Renaud 1 Nicolas Andreff 2 François Pierrot 3 Philippe Martinet 2
1 LaRAMA - Laboratoire de Recherches et Application en Mécanique Avancée
2 LASMEA - Laboratoire des sciences et matériaux pour l'électronique et d'automatique
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : In this paper, an original approach is proposed for the kinematic calibration of parallel mechanisms. The originality lies in the use of vision to get information on all parts of the mechanism, i.e. its end-effector as well as its legs. Metrological redundancy is therefore maximized to improve the calibration efficiency. The approach is implemented for the calibration of the I4 parallel mechanism [1], with the use of the Jacobian matrix. No accurate camera location is needed so that the experimental procedure is easy to achieve. The calibration algorithm is detailed and experimentally demonstrated more efficient than other calibration methods based on legs observation or end-effector observation.
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LIRMM | CNRS | TDS-MACS | INSTITUT_PASCAL | DEXTER | PRES_CLERMONT | MIPS | UNIV-MONTPELLIER

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Pierre Renaud, Nicolas Andreff, François Pierrot, Philippe Martinet. Combining End-Effector and Legs Observation for Kinematic Calibration of Parallel Mechanisms. ICRA: International Conference on Robotics and Automation, Apr 2004, New Orleans, United States. pp.4116-4121, ⟨10.1109/ROBOT.2004.1308916⟩. ⟨lirmm-00108841⟩

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