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International Conference on Intelligent Robotics and Applications

ICIRA 2015: Intelligent Robotics and Applications pp 173–184Cite as

An Experimental Comparison for the Accuracy Improvement of a 6-PSS Parallel Manipulator by Choosing Different Sets of Measurement Data

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9245))

Abstract

An experiment of kinematic calibration is conducted to improve the positioning accuracy of a 6-PSS parallel manipulator for large components assembly. To ensure the positioning accuracy of the manipulator with a higher level, the end effector’s pose and position data, which are obtained by the laser tracker, are respectively used in the calibration. The accuracy improvements are compared between the usages of poses and position data and the result shows that though the measurement device has the capability of obtaining the six dimensional poses of the end effector, it is still better to use the position data rather than the pose data to do the kinematic calibration, especially for some large scaled components positioning, for the orientation error may make a bigger influence than the position error in the positioning of the end effector.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China

    Lingyu Kong, Genliang Chen, Hao Wang & Yong Zhao

  2. Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China

    Lingyu Kong, Genliang Chen, Hao Wang & Yong Zhao

Authors
  1. Lingyu Kong
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  2. Genliang Chen
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  3. Hao Wang
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  4. Yong Zhao
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Corresponding author

Correspondence to Hao Wang .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Kong, L., Chen, G., Wang, H., Zhao, Y. (2015). An Experimental Comparison for the Accuracy Improvement of a 6-PSS Parallel Manipulator by Choosing Different Sets of Measurement Data. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_16

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  • DOI: https://doi.org/10.1007/978-3-319-22876-1_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22875-4

  • Online ISBN: 978-3-319-22876-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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