Paper Info
Title
Design And Kinematic Analysis Of The Wire Parallel Mechanism For A Robot Pose Measurement
Abstract
This paper presents a wire parallel mechanism designed and manufactured for a robot pose measurement which can be used for a robot calibration It consists of six parallel links using wires. The position and orientation of a robot are obtained from the wire lengths measured in the wire parallel mechanism. The complex nonlinear equations of the forward kinematics of a parallel mechanism are solved by using the numerical method(Newton-Raphson method), and the unique solution is determined from a geometric configuration of the designed mechanism. Through the experiments, it is verified that the developed mechanism can measure a full pose of a robot and has an accuracy of +0.05 mm, +0.1 degrees in the position and orientation, respectively. In conclusion, it can be used effectively for measuring of a robot pose with low cost and effort.
Year
DOI
Venue
1998
10.1109/ROBOT.1998.680740
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4
Field
DocType
ISSN
Kinematics equations,Kinematics,System of measurement,Inverse kinematics,Robot calibration,Control theory,Robot kinematics,Control engineering,Forward kinematics,Robot,Mathematics
Conference
1050-4729
Citations 
PageRank 
References 
5
1.61
6
Authors
3
Name
Order
Citations
PageRank
Jae-won Jeong182.37
Soohyun Kim217426.33
Yoon-keun Kwak3214.96