NDLI: Autonomous Kinematic Self-Calibration of a Novel Haptic Device

Content Provider	IEEE Xplore Digital Library
Author	Zhu Yanhe Yan Jihong Zhao Jie Cai Hegao
Copyright Year	2006
Description	Author affiliation: Robot Res. Inst., Harbin Inst. of Technol. (Zhu Yanhe; Yan Jihong; Zhao Jie; Cai Hegao)
Abstract	A closed loop self-calibration method for Delta mechanism and 3-RRR mechanism used in a double parallel haptic device was presented. This approach blocks successively one joint of each parallel mechanism using a simple lockup device and reforms the 3-DOF mechanism to be a 2-DOF one. The parameter errors of the mechanism are identified according to the differences between the sensor output of the redundant chain and nominal model output. Both the condition number and singular value of the error propagation Jacobian are synthesized as a new selection principle of calibration set such that the calibrating process is insensitive to the noise and the calibration precision is increased efficiently. Experiments show that the ratio of maximal error before and after calibrating is 9.6, namely, the setting accuracy of the two mechanisms are increased about 10 times and the error of re-position is less than 0.1 mm and 0.1deg
Starting Page	4654
Ending Page	4659
File Size	6010758
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282251
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Haptic interfaces Calibration Parallel robots Intelligent robots Jacobian matrices Volume measurement Time measurement Robot sensing systems Virtual reality Error observation index Delta mechanism 3-RRR mechanism Closed-loop Self-calibration
Content Type	Text
Resource Type	Article

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