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Self-calibration of parallel-link mechanisms

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Date Issued:
1997
Summary:
Self-calibration is a desirable feature for an intelligent machine such as a robot that must function outside of controlled laboratory conditions. This is because it is inevitable that variations in the kinematic model arise from imperfections in the manufacturing process and changes of environment conditions. Self-calibration has the potential of (a) removing the dependence on external pose sensing, (b) producing high accuracy measurement data over the entire workspace of the system with an extremely fast measurement rate, (c) being automated and completely non invasive, (d) facilitating on-line accuracy compensation, and (e) being cost effective. This dissertation concentrates on the study of self-calibrating parallel-link mechanisms. A framework of self-calibration of a parallel-link mechanism is created, which is based on kinematic analysis and the construction of measurement residuals utilizing the information provided by redundant sensors embedded in the system. Forward and inverse kinematic measurement residuals of the mechanisms are proposed. To avoid the estimation of redundant kinematic parameters of the mechanism, the concept of relative residuals is introduced. Guidelines for placement of sensors for self-calibration are presented. An approach to determining the number of independent kinematic parameters of the mechanism is introduced. Extensive simulation and experimental studies conducted on a parallel-link mechanism, the Stewart platform built in the Robotics Center at Florida Atlantic University, confirm the effectiveness of the proposed approach.
Title: Self-calibration of parallel-link mechanisms.
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Name(s): Liu, Lixin.
Florida Atlantic University, Degree grantor
Zhuang, Hanqi, Thesis advisor
College of Engineering and Computer Science
Department of Computer and Electrical Engineering and Computer Science
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1997
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 187 p.
Language(s): English
Summary: Self-calibration is a desirable feature for an intelligent machine such as a robot that must function outside of controlled laboratory conditions. This is because it is inevitable that variations in the kinematic model arise from imperfections in the manufacturing process and changes of environment conditions. Self-calibration has the potential of (a) removing the dependence on external pose sensing, (b) producing high accuracy measurement data over the entire workspace of the system with an extremely fast measurement rate, (c) being automated and completely non invasive, (d) facilitating on-line accuracy compensation, and (e) being cost effective. This dissertation concentrates on the study of self-calibrating parallel-link mechanisms. A framework of self-calibration of a parallel-link mechanism is created, which is based on kinematic analysis and the construction of measurement residuals utilizing the information provided by redundant sensors embedded in the system. Forward and inverse kinematic measurement residuals of the mechanisms are proposed. To avoid the estimation of redundant kinematic parameters of the mechanism, the concept of relative residuals is introduced. Guidelines for placement of sensors for self-calibration are presented. An approach to determining the number of independent kinematic parameters of the mechanism is introduced. Extensive simulation and experimental studies conducted on a parallel-link mechanism, the Stewart platform built in the Robotics Center at Florida Atlantic University, confirm the effectiveness of the proposed approach.
Identifier: 9780591624748 (isbn), 12539 (digitool), FADT12539 (IID), fau:9430 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (Ph.D.)--Florida Atlantic University, 1997.
Subject(s): Manipulators (Mechanism)--Calibration
Robots--Control systems
Robotics
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12539
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.