Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism

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MEI, Jiangping ;ZANG, Jiawei ;DING, Yabin ;XIE, Shenglong ;ZHANG, Xu .
Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 63, n.12, p. 715-724, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/rapid-and-automatic-zero-offset-calibration-of-a-2-dof-parallel-robot-based-on-a-new-measuring-mechanism/>. Date accessed: 02 jun. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2017.4529.
Mei, J., Zang, J., Ding, Y., Xie, S., & Zhang, X.
(2017).
Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism.
Strojniški vestnik - Journal of Mechanical Engineering, 63(12), 715-724.
doi:http://dx.doi.org/10.5545/sv-jme.2017.4529
@article{sv-jmesv-jme.2017.4529,
	author = {Jiangping  Mei and Jiawei  Zang and Yabin  Ding and Shenglong  Xie and Xu  Zhang},
	title = {Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {12},
	year = {2017},
	keywords = {parallel robot; calibration; zero offset; measuring mechanism},
	abstract = {This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved.},
	issn = {0039-2480},	pages = {715-724},	doi = {10.5545/sv-jme.2017.4529},
	url = {https://www.sv-jme.eu/article/rapid-and-automatic-zero-offset-calibration-of-a-2-dof-parallel-robot-based-on-a-new-measuring-mechanism/}
}
Mei, J.,Zang, J.,Ding, Y.,Xie, S.,Zhang, X.
2017 June 63. Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 63:12
%A Mei, Jiangping 
%A Zang, Jiawei 
%A Ding, Yabin 
%A Xie, Shenglong 
%A Zhang, Xu 
%D 2017
%T Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism
%B 2017
%9 parallel robot; calibration; zero offset; measuring mechanism
%! Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism
%K parallel robot; calibration; zero offset; measuring mechanism
%X This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved.
%U https://www.sv-jme.eu/article/rapid-and-automatic-zero-offset-calibration-of-a-2-dof-parallel-robot-based-on-a-new-measuring-mechanism/
%0 Journal Article
%R 10.5545/sv-jme.2017.4529
%& 715
%P 10
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 63
%N 12
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Mei, Jiangping, Jiawei  Zang, Yabin  Ding, Shenglong  Xie, & Xu  Zhang.
"Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism." Strojniški vestnik - Journal of Mechanical Engineering [Online], 63.12 (2017): 715-724. Web.  02 Jun. 2020
TY  - JOUR
AU  - Mei, Jiangping 
AU  - Zang, Jiawei 
AU  - Ding, Yabin 
AU  - Xie, Shenglong 
AU  - Zhang, Xu 
PY  - 2017
TI  - Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4529
KW  - parallel robot; calibration; zero offset; measuring mechanism
N2  - This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved.
UR  - https://www.sv-jme.eu/article/rapid-and-automatic-zero-offset-calibration-of-a-2-dof-parallel-robot-based-on-a-new-measuring-mechanism/
@article{{sv-jme}{sv-jme.2017.4529},
	author = {Mei, J., Zang, J., Ding, Y., Xie, S., Zhang, X.},
	title = {Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {63},
	number = {12},
	year = {2017},
	doi = {10.5545/sv-jme.2017.4529},
	url = {https://www.sv-jme.eu/article/rapid-and-automatic-zero-offset-calibration-of-a-2-dof-parallel-robot-based-on-a-new-measuring-mechanism/}
}
TY  - JOUR
AU  - Mei, Jiangping 
AU  - Zang, Jiawei 
AU  - Ding, Yabin 
AU  - Xie, Shenglong 
AU  - Zhang, Xu 
PY  - 2018/06/27
TI  - Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 63, No 12 (2017): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2017.4529
KW  - parallel robot, calibration, zero offset, measuring mechanism
N2  - This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved.
UR  - https://www.sv-jme.eu/article/rapid-and-automatic-zero-offset-calibration-of-a-2-dof-parallel-robot-based-on-a-new-measuring-mechanism/
Mei, Jiangping, Zang, Jiawei, Ding, Yabin, Xie, Shenglong, AND Zhang, Xu.
"Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 63 Number 12 (27 June 2018)

Authors

Affiliations

  • Tianjin University, Key Laboratory of Mechanism Theory and Equipment Design, China 1

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 63(2017)12, 715-724

https://doi.org/10.5545/sv-jme.2017.4529

This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved.

parallel robot; calibration; zero offset; measuring mechanism