By Topic

Optimal Kinematic Calibration of Parallel Manipulators With Pseudoerror Theory and Cooperative Coevolutionary Network

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

2 Author(s)
Dan Zhang ; Fac. of Eng. & Appl. Sci., Univ. of Ontario Inst. of Technol., Oshawa, ON, Canada ; Zhen Gao

Accuracy is one of the most crucial factors which affects the profound laboratory research and extensive industrial application of parallel robotic manipulators. Kinematic calibration is a necessary approach to make the nominal value approximately equivalent to the actual value for the pose of end-effector under different input of actuation variables. Since the error source of parallel manipulator is strong coupling, highly nonlinear, and uncontrollable, the pseudoerror theory is proposed by considering multiple errors, including manufacturing and assembly error, thermal error, and nonlinear stiffness error, as a single hypothetical error source, which only causes the deflection of joint variables. A novel cooperative coevolutionary neural network (CCNN) is designed to establish the complex nonlinear relationship between joint variables and the related deviation with respect to the measured pose of the end-effector. With CCNN, the pseudoerror in arbitrary joint configuration can be obtained, and thus, the control parameters can be adjusted accordingly. The results are validated through the case studies about a parallelogram-based 3-DOF parallel manipulator and a parallel robotic machine tool. This approach is generic and feasible for all types of robotic system.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:59 ,  Issue: 8 )