Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to g...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/10/4/124 |
| _version_ | 1797500939104419840 |
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| author | Benjamin L. Moser Joshua A. Gordon Andrew J. Petruska |
| author_facet | Benjamin L. Moser Joshua A. Gordon Andrew J. Petruska |
| author_sort | Benjamin L. Moser |
| collection | DOAJ |
| description | In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi mathvariant="sans-serif">μ</mi></semantics></math></inline-formula>m RMS position error and 71.2 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi mathvariant="sans-serif">μ</mi></semantics></math></inline-formula>rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets. |
| first_indexed | 2024-03-10T03:11:05Z |
| format | Article |
| id | doaj.art-e329b300e07c437783b2217241dbb10b |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T03:11:05Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-e329b300e07c437783b2217241dbb10b2023-11-23T10:26:52ZengMDPI AGRobotics2218-65812021-11-0110412410.3390/robotics10040124Unified Parameterization and Calibration of Serial, Parallel, and Hybrid ManipulatorsBenjamin L. Moser0Joshua A. Gordon1Andrew J. Petruska2M3 Robotics Laboratory, Department of Mechanical Engineering, Colorado School of Mines, Golden, CO 80401, USANational Institute of Standards and Technology, Boulder, CO 80305, USAM3 Robotics Laboratory, Department of Mechanical Engineering, Colorado School of Mines, Golden, CO 80401, USAIn this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established serial-link representations. We use this framework to generate analytical kinematic and calibration Jacobians for general manipulator constructions using null space constraints and extend the methods to hybrid manipulator types with complex geometry. We leverage the analytical Jacobians to develop detailed expressions for post-calibration pose uncertainties that are applied to describe the relationship between data set size and post-calibration uncertainty. We demonstrate the calibration of a hybrid manipulator assembled from high precision calibrated industrial components resulting in 91.1 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi mathvariant="sans-serif">μ</mi></semantics></math></inline-formula>m RMS position error and 71.2 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mi mathvariant="sans-serif">μ</mi></semantics></math></inline-formula>rad RMS rotation error, representing a 46.7% reduction compared to the baseline calibration of assembly offsets.https://www.mdpi.com/2218-6581/10/4/124parallel manipulatorsrobot kinematic calibrationhybrid manipulatorspose uncertainty |
| spellingShingle | Benjamin L. Moser Joshua A. Gordon Andrew J. Petruska Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators Robotics parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty |
| title | Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators |
| title_full | Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators |
| title_fullStr | Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators |
| title_full_unstemmed | Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators |
| title_short | Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators |
| title_sort | unified parameterization and calibration of serial parallel and hybrid manipulators |
| topic | parallel manipulators robot kinematic calibration hybrid manipulators pose uncertainty |
| url | https://www.mdpi.com/2218-6581/10/4/124 |
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