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Kinematic calibration of Delta robot using distance measurements
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Bai, Pujun, Mei, Jiangping, Huang, Tian and Chetwynd, D. G. (2015) Kinematic calibration of Delta robot using distance measurements. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 230 (3). pp. 414-424. doi:10.1177/0954406215603739 ISSN 0954-4062.
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WRAP_9974528-es-130316-kinematic_calibration_of_delta_robot_using_distance_measurements-jmes-2016.pdf - Accepted Version - Requires a PDF viewer. Download (1063Kb) | Preview |
Official URL: http://dx.doi.org/10.1177/0954406215603739
Abstract
This paper deals with kinematic calibration of the Delta robot using distance measurements. The work is mainly placed upon: (1) the error modeling with a goal to classify the source errors affecting both the compensatable and uncompensatable pose accuracy; (2) the full/partial source error identification using a set of distance measurements acquired by a laser tracker; and (3) design of a linearized compensator for real-time error compensation. Experimental results on a prototype show that positioning accuracy of the robot can significantly be improved by the proposed approach.
| Item Type: | Journal Article | ||||||||
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| Subjects: | T Technology > TJ Mechanical engineering and machinery | ||||||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||
| Library of Congress Subject Headings (LCSH): | Machinery, Kinematics of | ||||||||
| Journal or Publication Title: | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science | ||||||||
| Publisher: | Sage Publications Ltd. | ||||||||
| ISSN: | 0954-4062 | ||||||||
| Official Date: | 1 September 2015 | ||||||||
| Dates: |
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| Volume: | 230 | ||||||||
| Number: | 3 | ||||||||
| Number of Pages: | 11 | ||||||||
| Page Range: | pp. 414-424 | ||||||||
| DOI: | 10.1177/0954406215603739 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Restricted or Subscription Access | ||||||||
| Date of first compliant deposit: | 23 March 2016 | ||||||||
| Date of first compliant Open Access: | 24 March 2016 | ||||||||
| Funder: | Guo jia zi ran ke xue ji jin wei yuan hui (China) [National Natural Science Foundation of China] (NSFC), Natural Science Foundation of Tianjin (NSFT) | ||||||||
| Grant number: | 51135008 (NSFC), 13RCHZGX01118 (NSFT), 14C26211200362 (NSFT) |
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