| contributor author | Yukio Takeda | |
| contributor author | Gang Shen | |
| contributor author | Hiroaki Funabashi | |
| date accessioned | 2017-05-09T00:13:50Z | |
| date available | 2017-05-09T00:13:50Z | |
| date copyright | September, 2004 | |
| date issued | 2004 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27792#856_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/130470 | |
| description abstract | For kinematic calibration of robots, we proposed using a low order Fourier series obtained by transforming the data for circular measurement paths. The errors of the realized paths were measured using a Double-Ball-Bar (DBB) system. Two nondimensional indices were proposed for evaluating the orthogonalities of the measurement paths and calibration parameters. An index was also proposed to evaluate the accuracy of the calibration with regard to measurement error. An algorithm for determining adequate measurement paths and an optimal set of a specified number of paths using these indices was also proposed. The effectiveness of the proposed method, indices, and algorithm was investigated through simulations and experiments with an experimental 6 dof in-parallel actuated worktable that we developed. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A DBB-Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series | |
| type | Journal Paper | |
| journal volume | 126 | |
| journal issue | 5 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1767822 | |
| journal fristpage | 856 | |
| journal lastpage | 865 | |
| identifier eissn | 1528-9001 | |
| keywords | Calibration | |
| keywords | Fourier series | |
| keywords | Errors | |
| keywords | Algorithms AND Mechanisms | |
| tree | Journal of Mechanical Design:;2004:;volume( 126 ):;issue: 005 | |
| contenttype | Fulltext | |
