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Optimal Kinematic Calibration of the 6-UPS Parallel Manipulator

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Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8102))

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Abstract

This paper presents the optimal kinematic calibration of the Hexapod (6-UPS) parallel manipulator based on a new observability index. The polytope description, rather than the widely used ellipsoid one, is introduced to depict the inaccuracy of the identified parameters. Then, the infinity-norm of the residual errors is utilized to assess the calibration precision of the kinematic parameters, which should be minimized during the process of measurement configurations selection. In order to find the optimal configurations, the Particle Swarm Optimization (PSO) algorithm is employed in the proposed method and a collision mechanism is added to cope with the joint space boundary constraint of the studied manipulator. In the end, a numerical example is studied to verify the correctness and effectiveness of the proposed approach.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, 200240, Shanghai, P.R. China

    Genliang Chen, Hao Wang & Zhongqin Lin

Authors
  1. Genliang Chen
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  2. Hao Wang
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  3. Zhongqin Lin
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

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© 2013 Springer-Verlag Berlin Heidelberg

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Chen, G., Wang, H., Lin, Z. (2013). Optimal Kinematic Calibration of the 6-UPS Parallel Manipulator. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40852-6_39

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  • DOI: https://doi.org/10.1007/978-3-642-40852-6_39

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40851-9

  • Online ISBN: 978-3-642-40852-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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