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Vision‐based kinematic calibration of an H4 parallel mechanism: practical accuracies

Nicolas Andreff (LaRAMA, U. Blaise Pascal/IFMA, LASMEA, U. Blaise Pascal/CNRS, Clermont‐Ferrand, France)
Pierre Renaud (LIRMM, U. Montpellier II/CNRS, Montpellier, France)
Philippe Martinet (LASMEA, U. Blaise Pascal/CNRS, Clermont‐Ferrand, France)
Franc¸ois Pierrot (LIRMM, U. Montpellier II/CNRS, Montpellier, France)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 June 2004

Abstract

Presents the kinematic calibration of an H4 parallel prototype robot using a vision‐based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. To do so, the end‐effector pose (i.e. position and orientation) has to be measured with the utmost accuracy. Thus, first the practical accuracy of the low‐cost vision‐based measuring system is evaluated to have a precision in the order of magnitude of 10μ_it;m and 10−3° for a 1,024×768 pixel CCD camera. Second, the prototype is calibrated using the easy‐to‐install vision system, yielding a final positioning accuracy of the end‐effector reduced from more than 1cm down to less than 0.5mm. Also provides a discussion on the use of such a method on commercial systems.

Keywords

Citation

Andreff, N., Renaud, P., Martinet, P. and Pierrot, F. (2004), "Vision‐based kinematic calibration of an H4 parallel mechanism: practical accuracies", Industrial Robot, Vol. 31 No. 3, pp. 273-283. https://doi.org/10.1108/01439910410532350

Publisher

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Emerald Group Publishing Limited

Copyright © 2004, Emerald Group Publishing Limited