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Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker
Joint Authors
Zhao, Dong
Dong, Chenglin
Guo, Hao
Tian, Wenjie
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-15
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A general methodology for ensuring the geometric accuracy of a 6-DOF polishing hybrid robot having a 3UPS and UP parallel mechanism and a 3-DOF wrist is presented.
The process is implemented in three steps: formulation of the error model containing complete source errors such as offset errors of the actuated joints and structural errors of the joints and links utilizing product of exponentials formula and screw theory.
Measurement of the full pose error twist with a specially designed measurement tool having three reference points was undertaken.
Identification of the source errors by a stepwise identification strategy to overcome the ill-conditioned problem arising from the multicollinearity and development of a linearized error compensator was completed.
An experiment has been carried out on the prototype, and the results show that, after calibration, a position volumetric error of 0.07 mm and an orientation error of 0.07 degrees can be achieved over the cubic task workspace with repeatability of 0.016 mm and 0.010 degrees.
American Psychological Association (APA)
Zhao, Dong& Dong, Chenglin& Guo, Hao& Tian, Wenjie. 2018. Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1207991
Modern Language Association (MLA)
Zhao, Dong…[et al.]. Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker. Mathematical Problems in Engineering No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1207991
American Medical Association (AMA)
Zhao, Dong& Dong, Chenglin& Guo, Hao& Tian, Wenjie. Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1207991
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1207991