Forward kinematic calibration and gravity compensation for parallel-mechanism-based machine tools

H. Ota; T. Shibukawa; T. Tooyama; M. Uchiyama

doi:10.1243/146441902760029375

Forward kinematic calibration and gravity compensation for parallel-mechanism-based machine tools

H. Ota, T. Shibukawa, T. Tooyama, M. Uchiyama

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

This paper describes a newly developed forward kinematic calibration method for parallel mechanisms, which identifies the kinematic parameters using the positioning data measured by a Double Ball Bar (DBB) system. This method enables precise calibration with easy measurements, which improves the static accuracy reduced by kinematic parameter errors. This paper also describes a new gravity compensation method, in which the kinematic parameters are updated gradually according to the travelling plate position. This provides real-time motion control with compensation. These methods are applied to the parallel-mechanism-based milling machine, named HexaM, and their validity is verified by simulation and experiment.

Original language	English
Pages (from-to)	39-49
Number of pages	11
Journal	Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Volume	216
Issue number	1
DOIs	https://doi.org/10.1243/146441902760029375
Publication status	Published - 2002 Dec 1

Keywords

Double Ball Bar system
Elastic deformation
Forward kinematics
Gravity compensation
HexaM
Kinematic calibration
Parallel mechanism

ASJC Scopus subject areas

Condensed Matter Physics
Mechanical Engineering

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abstract = "This paper describes a newly developed forward kinematic calibration method for parallel mechanisms, which identifies the kinematic parameters using the positioning data measured by a Double Ball Bar (DBB) system. This method enables precise calibration with easy measurements, which improves the static accuracy reduced by kinematic parameter errors. This paper also describes a new gravity compensation method, in which the kinematic parameters are updated gradually according to the travelling plate position. This provides real-time motion control with compensation. These methods are applied to the parallel-mechanism-based milling machine, named HexaM, and their validity is verified by simulation and experiment.",

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