Identifying the Kinematic Parameters of Hexapod Machine Tool
Hexapod Machine Tool (HMT) is a parallel robot
mostly based on Stewart platform. Identification of kinematic
parameters of HMT is an important step of calibration procedure. In
this paper an algorithm is presented for identifying the kinematic
parameters of HMT using inverse kinematics error model. Based on
this algorithm, the calibration procedure is simulated. Measurement
configurations with maximum observability are decided as the first
step of this algorithm for a robust calibration. The errors occurring in
various configurations are illustrated graphically. It has been shown
that the boundaries of the workspace should be searched for the
maximum observability of errors. The importance of using
configurations with sufficient observability in calibrating hexapod
machine tools is verified by trial calibration with two different
groups of randomly selected configurations. One group is selected to
have sufficient observability and the other is in disregard of the
observability criterion. Simulation results confirm the validity of the
proposed identification algorithm.
[1] Benjamin W.Mooring and Zvi S. Roth and Morris R. Driels,
"Fundamentals of Manipulator Calibration", John Wiely & Sons, New
York, 1991.
[2] H. Zhuang, Y. Jiahua, and O. Masory, "Calibration of Stewart platforms
and other parallel manipulators by minimizing inverse kinematics
residuals," Journal of Robotic Systems, vol. 15, pp. 395-405, 1998.
[3] Yu-jen Chiu,Ming-Hwei Perng, "Self-calibration of a general hexapod
manipulator with enhanced precision in 5-DOF motions", Mechanism
and Machine Theory, vol. pp. 1-23, 2004.
[4] K. T. Sung, W. Park, and Y K. Lee, "Study on Observability of Paralleltyped
Machining Centre Using a Single Planar Table and Digital
Indicators," Mechanism and Machine Theory, vol. 41, pp. 1147-1156,
2006.
[5] H. Zhuang, K. Wang, and Z. S. Roth, "Optimal selection of
measurement Configurations for robot calibration using simulated
annealing," Proceedings of the IEEE International Conference on
Robotics and Automation (ICRA), San Diego, CA, pp. 393-398, 1994.
[6] T,Anderson, M.J.Thurley, O.Marklund, "Pellet Size Estimation Using
Spherical Fitting", Instrumentation and Measurement Technology
Conference Proceedings IEEE, Location: Warsaw, ISSN: 1091-5281,
ISBN: 1-4244-0588-, pp. 1-5, 2007.
[7] David Daney, Ioannis Z. Emiris, "Calibration of parallel robots : on the
Elimination of Pose-Dependent Parameters", Proceedings of
EUCOMES, the first European Conference on Mechanism Science ,
Obergurgl (Austria), February 21-26, 2006.
[8] David Daney, Yves Papegay, "Choosing Measurement Poses for Robot
Calibration with the Local Convergence Method andTabu Search",
International Journal of Robotic Research, Sage publications, vol. 24,
pp. 501-518, 2005.
[9] Bernhard Jokiel Jr. , John C. Ziegert , and Lothar Bieg, "Uncertainty
propagation in calibration of parallel kinematics machines," Precision
Engineering, vol. 25, pp. 48-55, 2001.
[10] A. Nahvi, J. M. Hollerbach, and V. Hayward, "Calibration of a parallel
robot using multiple kinematics closed loops," Proceedings of the IEEE
International Conference on Robotics and Automation (ICRA), San
Diego, CA, pp. 407-412, 1994.
[11] A. Nahvi, and J. M. Hollerbach, "The noise amplification index for
optimal pose selection in robot calibration," Proceedings of the IEEE
International Conference on Robotics and Automation (ICRA),
Minneapolis, MN, pp. 647-654, 1996.
[12] J. H. Borm, and C. H. Menq, "Determination of optimal measurement
Configurations for robot calibration based on observabililty measure,"
Journal of Robotic Systems , vol. 10, pp. 51-63, 1991.
[13] C.H. Meng, J.H. Borm, "Identification and observability measure of a
basis set of error parameters in robot calibration", J. Mechanism,
Transmissions and automation in design, vol. 111, pp. 513-518, 1989.
[14] Shannon C. Ridgeway , Carl D. Crane , "Optimized Kinematics of a 6-6
Parallel Mechanism Considering Position and Orientation Errors",
FCRAR 2003, The 16th Florida Conference on the Recent Advances in
Robotics, Florida Atlantic University, Boca Raton, FL, May 2003.
[15] szabolcs szatmári , "geometrical errors of parallel robots", periodica
polytechnica ser. mech. eng., vol. 43, no. 2, pp. 155-162, 1999.
[16] GAO Meng, LI Tiemin, TANG Xiaoqiang, DUAN Guanghong,
"Estimates of Identification Result Disturbances in Parallel Mechanism
Calibration", Tsinghua Science and Technology , vol. 11, pp. 80-87,
2006.
[17] Hai Wang, Kuang-Chao Fan ," Identification of strut and assembly
errors of a 3- PRS serial-parallel machine tool", International Journal
of Machine Tools & Manufacture, vol. 44, pp. 1171-1178, 2004.
[18] Han Sung Kim, "Kinematics Calibration of a Cartesian Parallel
Manipulator", International Journal of Control, Automation, and
Systems, vol. 3, pp. 453-460, 2005.
[19] Yung Ting , Ho-Chin Jar, Chun-Chung Li, "Measurement and
calibration for Stewart micromanipulation system", Precision
Engineering, vol., pp. 226-233, 2007.
[20] Haomin Lin, John E. McInroy, "Disturbance attenuation in precise
hexapod pointing using positive force feedback", Control Engineering
Practice, vol. 14, pp. 1377-1386, 2006.
[21] Rocco Vertechy, Vincenzo Parenti Castelli, " Accurate and fast body
pose estimation by three point position data," Mechanism and machine
theory, vol. 42, pp.1170-1183, 2007.
[22] Tae-Young Lee, Jae-Kyung Shim, "Improved dialytic elimination
algorithm for the forward kinematics of the general Stewart-Gough
platform", Mechanism and Machine Theory, vol. 38, 563-577, 2003.
[23] E. Castillo-Castaneda, Y. Takeda, "Improving path accuracy of a cranktype
6-dof parallel mechanism by stiction compensation", Mechanism
and Machine Theory, vol. 43, pp.104-114, 2008.
[24] J. Gao, P. Webb and N. Gindy, "Error reduction for an inertial-sensorbased
dynamic parallel kinematics machine positioning system", Meas.
Sci. Technol., vol. 14, pp. 543-550, 2003.
[25] Takaaki OIWA, "Study on Accuracy Improvement of Parallel
Kinematics Machine-Compensation Methods for Thermal Expansion of
Link and Machine Frame-", 1st Korea Japan Conf Positioning Technol,
pp. 189-194, 2002.
[26] Seung Reung Lim, Woo Chun Choi, Jae-Bok Song and Daehie Hong,
"Error Model and Accuracy Analysis of a Cubic Parallel Device",
International Journal of the Korean Society of Precision Engineering,
vol. 2, 2001.
[1] Benjamin W.Mooring and Zvi S. Roth and Morris R. Driels,
"Fundamentals of Manipulator Calibration", John Wiely & Sons, New
York, 1991.
[2] H. Zhuang, Y. Jiahua, and O. Masory, "Calibration of Stewart platforms
and other parallel manipulators by minimizing inverse kinematics
residuals," Journal of Robotic Systems, vol. 15, pp. 395-405, 1998.
[3] Yu-jen Chiu,Ming-Hwei Perng, "Self-calibration of a general hexapod
manipulator with enhanced precision in 5-DOF motions", Mechanism
and Machine Theory, vol. pp. 1-23, 2004.
[4] K. T. Sung, W. Park, and Y K. Lee, "Study on Observability of Paralleltyped
Machining Centre Using a Single Planar Table and Digital
Indicators," Mechanism and Machine Theory, vol. 41, pp. 1147-1156,
2006.
[5] H. Zhuang, K. Wang, and Z. S. Roth, "Optimal selection of
measurement Configurations for robot calibration using simulated
annealing," Proceedings of the IEEE International Conference on
Robotics and Automation (ICRA), San Diego, CA, pp. 393-398, 1994.
[6] T,Anderson, M.J.Thurley, O.Marklund, "Pellet Size Estimation Using
Spherical Fitting", Instrumentation and Measurement Technology
Conference Proceedings IEEE, Location: Warsaw, ISSN: 1091-5281,
ISBN: 1-4244-0588-, pp. 1-5, 2007.
[7] David Daney, Ioannis Z. Emiris, "Calibration of parallel robots : on the
Elimination of Pose-Dependent Parameters", Proceedings of
EUCOMES, the first European Conference on Mechanism Science ,
Obergurgl (Austria), February 21-26, 2006.
[8] David Daney, Yves Papegay, "Choosing Measurement Poses for Robot
Calibration with the Local Convergence Method andTabu Search",
International Journal of Robotic Research, Sage publications, vol. 24,
pp. 501-518, 2005.
[9] Bernhard Jokiel Jr. , John C. Ziegert , and Lothar Bieg, "Uncertainty
propagation in calibration of parallel kinematics machines," Precision
Engineering, vol. 25, pp. 48-55, 2001.
[10] A. Nahvi, J. M. Hollerbach, and V. Hayward, "Calibration of a parallel
robot using multiple kinematics closed loops," Proceedings of the IEEE
International Conference on Robotics and Automation (ICRA), San
Diego, CA, pp. 407-412, 1994.
[11] A. Nahvi, and J. M. Hollerbach, "The noise amplification index for
optimal pose selection in robot calibration," Proceedings of the IEEE
International Conference on Robotics and Automation (ICRA),
Minneapolis, MN, pp. 647-654, 1996.
[12] J. H. Borm, and C. H. Menq, "Determination of optimal measurement
Configurations for robot calibration based on observabililty measure,"
Journal of Robotic Systems , vol. 10, pp. 51-63, 1991.
[13] C.H. Meng, J.H. Borm, "Identification and observability measure of a
basis set of error parameters in robot calibration", J. Mechanism,
Transmissions and automation in design, vol. 111, pp. 513-518, 1989.
[14] Shannon C. Ridgeway , Carl D. Crane , "Optimized Kinematics of a 6-6
Parallel Mechanism Considering Position and Orientation Errors",
FCRAR 2003, The 16th Florida Conference on the Recent Advances in
Robotics, Florida Atlantic University, Boca Raton, FL, May 2003.
[15] szabolcs szatmári , "geometrical errors of parallel robots", periodica
polytechnica ser. mech. eng., vol. 43, no. 2, pp. 155-162, 1999.
[16] GAO Meng, LI Tiemin, TANG Xiaoqiang, DUAN Guanghong,
"Estimates of Identification Result Disturbances in Parallel Mechanism
Calibration", Tsinghua Science and Technology , vol. 11, pp. 80-87,
2006.
[17] Hai Wang, Kuang-Chao Fan ," Identification of strut and assembly
errors of a 3- PRS serial-parallel machine tool", International Journal
of Machine Tools & Manufacture, vol. 44, pp. 1171-1178, 2004.
[18] Han Sung Kim, "Kinematics Calibration of a Cartesian Parallel
Manipulator", International Journal of Control, Automation, and
Systems, vol. 3, pp. 453-460, 2005.
[19] Yung Ting , Ho-Chin Jar, Chun-Chung Li, "Measurement and
calibration for Stewart micromanipulation system", Precision
Engineering, vol., pp. 226-233, 2007.
[20] Haomin Lin, John E. McInroy, "Disturbance attenuation in precise
hexapod pointing using positive force feedback", Control Engineering
Practice, vol. 14, pp. 1377-1386, 2006.
[21] Rocco Vertechy, Vincenzo Parenti Castelli, " Accurate and fast body
pose estimation by three point position data," Mechanism and machine
theory, vol. 42, pp.1170-1183, 2007.
[22] Tae-Young Lee, Jae-Kyung Shim, "Improved dialytic elimination
algorithm for the forward kinematics of the general Stewart-Gough
platform", Mechanism and Machine Theory, vol. 38, 563-577, 2003.
[23] E. Castillo-Castaneda, Y. Takeda, "Improving path accuracy of a cranktype
6-dof parallel mechanism by stiction compensation", Mechanism
and Machine Theory, vol. 43, pp.104-114, 2008.
[24] J. Gao, P. Webb and N. Gindy, "Error reduction for an inertial-sensorbased
dynamic parallel kinematics machine positioning system", Meas.
Sci. Technol., vol. 14, pp. 543-550, 2003.
[25] Takaaki OIWA, "Study on Accuracy Improvement of Parallel
Kinematics Machine-Compensation Methods for Thermal Expansion of
Link and Machine Frame-", 1st Korea Japan Conf Positioning Technol,
pp. 189-194, 2002.
[26] Seung Reung Lim, Woo Chun Choi, Jae-Bok Song and Daehie Hong,
"Error Model and Accuracy Analysis of a Cubic Parallel Device",
International Journal of the Korean Society of Precision Engineering,
vol. 2, 2001.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:51397", author = "M. M. Agheli and M. J. Nategh", title = "Identifying the Kinematic Parameters of Hexapod Machine Tool", abstract = "Hexapod Machine Tool (HMT) is a parallel robot
mostly based on Stewart platform. Identification of kinematic
parameters of HMT is an important step of calibration procedure. In
this paper an algorithm is presented for identifying the kinematic
parameters of HMT using inverse kinematics error model. Based on
this algorithm, the calibration procedure is simulated. Measurement
configurations with maximum observability are decided as the first
step of this algorithm for a robust calibration. The errors occurring in
various configurations are illustrated graphically. It has been shown
that the boundaries of the workspace should be searched for the
maximum observability of errors. The importance of using
configurations with sufficient observability in calibrating hexapod
machine tools is verified by trial calibration with two different
groups of randomly selected configurations. One group is selected to
have sufficient observability and the other is in disregard of the
observability criterion. Simulation results confirm the validity of the
proposed identification algorithm.", keywords = "Calibration, Hexapod Machine Tool (HMT), InverseKinematics Error Model, Observability, Parallel Robot, ParameterIdentification.", volume = "3", number = "4", pages = "335-6", }
