Auto-calibration of a redundant parallel manipulator based on the projected tracking error |
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| Authors: | Yaoxin Zhang Shuang Cong Zexiang Li Shilong Jiang |
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| Institution: | (1) Department of Automation, University of Science and Technology of China, Hefei, 230027, China;(2) Department of EEE, Hong Kong University of Science and Technology, Hongkong, China;(3) Googol Technology (Shenzhen) Limited, Shenzhan, China |
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| Abstract: | Utilizing the projected tracking error of the redundant joint angles, we studied the calibration problem of the sensor zero
positions of a planar 2-dof parallel manipulator in this paper. Based on the study of the relationship between the projected
tracking error of the joint angles and the error of the sensor zero positions, a new error function is proposed for the calibration
of the sensor zero positions of the parallel manipulator. It is proved that the error function is robust to the measurement
error of the joint sensors, so accurate calibration results can be obtained by minimizing the error function even if the measurement
of the joint angles is not accurate. With a simple searching strategy for the minimal value of the error function, we designed
an auto-calibration procedure and verified the validity of the calibration procedure through real experiments on a real redundant
planar 2-dof parallel manipulator. |
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| Keywords: | Auto-calibration Jacobian matrix Linear projection Parallel manipulator |
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