By Topic

Calibration of a 2-DOF planar parallel robot: home position identification and experimental verification

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Qingyong Ding ; Robotics Inst., Harbin Inst. of Technol., China ; Lining Sun ; Junhong Ji ; Lemin Zhang

This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99 mm to less than 0.1 mm.

Published in:

Mechatronics and Automation, 2005 IEEE International Conference  (Volume:1 )

Date of Conference:

29 July-1 Aug. 2005