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Auto-calibration of a redundant parallel manipulator based on the projected tracking error

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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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Authors and Affiliations

  1. Department of Automation, University of Science and Technology of China, Hefei, 230027, China

    Yaoxin Zhang & Shuang Cong

  2. Department of EEE, Hong Kong University of Science and Technology, Hongkong, China

    Zexiang Li

  3. Googol Technology (Shenzhen) Limited, Shenzhan, China

    Shilong Jiang

Authors
  1. Yaoxin Zhang
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  2. Shuang Cong
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  3. Zexiang Li
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  4. Shilong Jiang
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Correspondence to Shuang Cong.

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Zhang, Y., Cong, S., Li, Z. et al. Auto-calibration of a redundant parallel manipulator based on the projected tracking error. Arch Appl Mech 77, 697–706 (2007). https://doi.org/10.1007/s00419-007-0127-z

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  • DOI: https://doi.org/10.1007/s00419-007-0127-z

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