Kinematic calibration of Delta robot using distance measurements. (February 2016)

• Record Type: Journal Article
• Authors: Bai, Pujun; Mei, Jiangping; Huang, Tian; Chetwynd, Derek G
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 230:Number 3(2016)
• Page Start: 414
• Page End: 424
• Publication Date: 2016-02
• Subjects: Delta robot -- geometric error modeling -- kinematic calibration; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/0954406215603739
• Languages: English
• ISSNs: 0954-4062

Abstract

This paper deals with kinematic calibration of the Delta robot using distance measurements. The work is mainly placed upon: (1) the error modeling with a goal to classify the source errors affecting both the compensatable and uncompensatable pose accuracy; (2) the full/partial source error identification using a set of distance measurements acquired by a laser tracker; and (3) design of a linearized compensator for real-time error compensation. Experimental results on a prototype show that positioning accuracy of the robot can significantly be improved by the proposed approach.