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

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

Research output: Contribution to journalArticlepeer-review

14 Citations (Scopus)


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 languageEnglish
Pages (from-to)39-49
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Issue number1
Publication statusPublished - 2002
Externally publishedYes


  • 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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