NDLI: Design and kinematic analysis of the wire parallel mechanism for a robot pose measurement

Content Provider	IEEE Xplore Digital Library
Author	Jae-Won Jeong Soo-Hyun Kim Yoon-Keun Kwak
Copyright Year	1998
Description	Author affiliation: Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea (Jae-Won Jeong)
Abstract	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 /spl plusmn/0.05 mm, /spl plusmn/0.1/spl deg/ in the position and orientation, respectively. In conclusion, it can be used effectively for measuring of a robot pose with low cost and effort.
Starting Page	2941
Ending Page	2946
File Size	569685
Page Count	6
File Format	PDF
ISBN	078034300X
ISSN	10504729
DOI	10.1109/ROBOT.1998.680740
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-05-20
Publisher Place	Belgium
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Wire Parallel robots Position measurement Pulp manufacturing Calibration Length measurement Nonlinear equations Newton method Costs
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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