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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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Official URL: http://dx.doi.org/10.1177/0954406215603739

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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
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:
DateEvent
1 September 2015Published
7 May 2015Accepted
8 October 2014Submitted
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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