0

Full Content is available to subscribers

Subscribe/Learn More  >

Identifiable Parameter Analysis for the Kinematic Calibration of a Hybrid Robot

[+] Author Affiliations
Yongbo Wang, Huapeng Wu, Heikki Handroos

Lappeenranta University of Technology, Lappeenranta, Finland

Paper No. DETC2011-47573, pp. 911-919; 9 pages
doi:10.1115/DETC2011-47573
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

In this paper, a statistical method for the determination of the identifiable parameters of a hybrid serial-parallel robot IWR (Intersector Welding Robot) is presented. This method is based on the Markov Chain Monte Carlo (MCMC) algorithm to analyze the posterior distribution and correlation of the error parameters. Differential Evolution algorithm is employed to search a global optimizer as initial values for the random sampling of MCMC. The robot under study has ten degrees of freedom (DOF) and will be used to carry out welding, machining, and remote handing for the assembly of vacuum vessel of the international thermonuclear experimental reactor (ITER). In this paper, a kinematic error model which involves assembling and manufacturing error parameters is developed for the proposed robot. Based on this error model, the mean values of the unknown parameters are statistically analyzed and estimated using the proposed method. Computer simulations reveal that all the reduced independent kinematic parameters can be identified with the complete pose measurements. Results also demonstrate that the identification method is robust and effective with the given measurement noise.

Copyright © 2011 by ASME
Topics: Robots , Calibration

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In