Referenced Items are not available for this document.
This paper presents a wire parallel mechanism designed and manufactured for a robot pose measurement which can be used for a robot calibration. It consists of six parallel links using wires. The position and orientation of a robot are obtained from the wire lengths measured in the wire parallel mechanism. The complex nonlinear equations of the forward kinematics of a parallel mechanism are solved by using the numerical method (Newton-Raphson method), and the unique solution is determined from a geometric configuration of the designed mechanism. Through the experiments, it is verified that the developed mechanism can measure a full pose of a robot and has an accuracy of ±0.05 mm, ±0.1° in the position and orientation, respectively. In conclusion, it can be used effectively for measuring of a robot pose with low cost and effort
Published in:
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
(Volume:4
)
Date of Conference: 16-20 May 1998
- Page(s):
- 2941 - 2946 vol.4
- Meeting Date :
- 16 May 1998-20 May 1998
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-4300-X
- INSPEC Accession Number:
- 5966318
- Conference Location :
- Leuven
- Digital Object Identifier :
- 10.1109/ROBOT.1998.680740
- Product Type:
- Conference Publications
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