Skip to content Skip to navigation
University of Warwick
  • Study
  • |
  • Research
  • |
  • Business
  • |
  • Alumni
  • |
  • News
  • |
  • About

University of Warwick
Publications service & WRAP

Highlight your research

  • WRAP
    • Home
    • Search WRAP
    • Browse by Warwick Author
    • Browse WRAP by Year
    • Browse WRAP by Subject
    • Browse WRAP by Department
    • Browse WRAP by Funder
    • Browse Theses by Department
  • Publications Service
    • Home
    • Search Publications Service
    • Browse by Warwick Author
    • Browse Publications service by Year
    • Browse Publications service by Subject
    • Browse Publications service by Department
    • Browse Publications service by Funder
  • Help & Advice
University of Warwick

The Library

  • Login
  • Admin

A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators

Tools
- Tools
+ Tools

Yin, F. W., Tian, W. J, Liu, H. T., Huang, Tian and Chetwynd, D. G. (2020) A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators. Mechanism and Machine Theory, 145 . doi:10.1016/j.mechmachtheory.2019.103665 ISSN 0094-114X.

[img]
Preview
PDF
WRAP-crew-theory-based-approach-determining-identifiable-parameters-calibration-parallel-manipulators-Huang-2020.pdf - Accepted Version - Requires a PDF viewer.
Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0.

Download (1866Kb) | Preview
Official URL: https://doi.org/10.1016/j.mechmachtheory.2019.1036...

Request Changes to record.

Abstract

Establishing complete, continuous and minimal error models is fundamentally significant for the calibration of robotic manipulators. Motivated by practical needs for models suited to coarse plus fine calibration strategies, this paper presents a screw theory based approach to determining the identifiable geometric errors of parallel manipulators at the model level. The paper first addresses two specific issues: (1) developing a simple approach that enables all encoder offsets to be retained in the minimal error model of serial kinematic chains; and (2) exploiting a fully justifiable criterion that allows the detection of the unidentifiable structural errors of parallel manipulators. Merging these two threads leads to a new, more rigorous formula for calculating precisely the number of identifiable geometric errors, including both encoder offsets and identifiable structural errors, of parallel manipulators. It shows that the identifiability of structural errors in parallel manipulators depends highly upon joint geometry and actuator arrangement of the limb involved. The process is used to determine the unidentifiable structural errors of two lower mobility parallel mechanisms to illustrate the effectiveness of the proposed approach.

Item Type: Journal Article
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Science, Engineering and Medicine > Engineering > Engineering
Library of Congress Subject Headings (LCSH): Manipulators (Mechanism) -- Automatic control, Robotics, Robots -- Error detection and recovery, Calibration
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Pergamon-Elsevier Science Ltd.
ISSN: 0094-114X
Official Date: March 2020
Dates:
DateEvent
March 2020Published
14 November 2019Available
8 October 2019Accepted
Volume: 145
DOI: 10.1016/j.mechmachtheory.2019.103665
Status: Peer Reviewed
Publication Status: Published
Access rights to Published version: Restricted or Subscription Access
Date of first compliant deposit: 22 November 2019
Date of first compliant Open Access: 14 November 2020
Grant number: 734272
RIOXX Funder/Project Grant:
Project/Grant IDRIOXX Funder NameFunder ID
51420105007[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
51605324[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
51622508[NSFC] National Natural Science Foundation of Chinahttp://dx.doi.org/10.13039/501100001809
RISE-ECSASDP (grant 734272)[ERC] Horizon 2020 Framework Programmehttp://dx.doi.org/10.13039/100010661

Request changes or add full text files to a record

Repository staff actions (login required)

View Item View Item

Downloads

Downloads per month over past year

View more statistics

twitter

Email us: wrap@warwick.ac.uk
Contact Details
About Us