Skip to main content
SpringerLink
Log in

Identification of geometric parameters of a parallel robot by using a camera calibration technique

  • Original Article
  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

This work reports a novel method to estimate the geometrical parameters of a 2-(3-RRPS) parallel robot intended for manufacturing tasks. The method uses camera calibration techniques, and it is based on the concept of vertex space. The advantage of this technique is that the system does not require complex electronic instrumentation, and only uses a CCD camera as a main sensor and planar patterns, which makes it portable, accurate and low cost. To ensure the quality of the measurements, a methodology for characterization of the measurement system is included. The applicability and the advantages of using the proposed method are shown by means of the estimation of the geometrical dimensions of a spatial parallel manipulator with a relatively complex kinematic architecture. Experiments are conducted and show a significant improvement in manipulator accuracy when the parameters estimated with this technique are used.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. S. Lu, Y. Li and B. Ding, Kinematics and dynamics analysis of the 3PUS-PRU parallel mechanism module designed for a novel 6-DOF gantry hybrid machine tool, Journal of Mechanical Sciences and Technology, 34(1) (2020) 345–357.

    Article  Google Scholar 

  2. F. S. Daeinejad et al., Design and analysis of a novel parallel mechanism for prosthetic knee wear test simulators, Journal of Mechanical Sciences and Technology, 31(2) (2017) 885–892.

    Article  Google Scholar 

  3. F. Zhang, J. Mei and Y. Zhao, Dimensional synthesis of six-degrees-of-freedom high-speed parallel robot using comprehensive evaluation index, Journal of Mechanical Sciences and Technology, 34(3) (2020) 1325–1338.

    Article  Google Scholar 

  4. J. Ding, C. Wang and H. Wu, Accuracy analysis of a parallel positioning mechanism with actuation redundancy, Journal of Mechanical Sciences and Technology, 33(1) (2019) 403–412.

    Article  Google Scholar 

  5. H. F. Quintero, L. A. Mejia and M. Diaz-Rodriguez, End-effector positioning due to joint clearances: a comparison among three planar 2-DOF parallel manipulators, Journal of Mechanical Sciences and Technology, 33(7) (2019) 3497–3507.

    Article  Google Scholar 

  6. A. Traslosheros and J. Sebastián, A method for kinematic calibration of a parallel robot by using one camera in hand and a spherical object, Proc. of 15thInternational Conf on Advanced Robotics (ICAR), Tallin (2011) 75–81.

  7. J. Ouyang and I. Jawahir, Ball array calibration on a coordinate measuring machine using a gage block, Measurement, 16(4) (1995) 219–229.

    Article  Google Scholar 

  8. R. Garrido and M. A. Trujano, Stability analysis of a visual PID controller applied to a planar parallel robot, International Journal of Control, Automation and Systems, 17(6) (2019) 1589–1598.

    Article  Google Scholar 

  9. S. Bai and M. Y. Teo, Kinematic calibration and pose measurement of a medical parallel manipulator by optical position sensors, Journal of Robotic Systems, 20(4) (2003) 201–209.

    Article  Google Scholar 

  10. Y. Zhang and F. Gao, A calibration test of Stewart platform, Proc. of 2007 IEEE International Conference on Networking, Sensing and Control, London, UK (2007) 297–301.

  11. M. Dinham and G. Fang, A low cost hand-eye calibration method for arc welding robots, Proc. of 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), Guilin, China (2009) 1889–1893.

  12. G. Meng, L. Tiemin and Y. Wensheng, Calibration method and experiment of Stewart platform using a laser tracker, Proc. of 2003 IEEE International Conference on Systems, Man and Cybernetics, Washington DC, USA (2003) 2797–2802.

  13. J. M. S. Motta, G. C. de Carvalho and R. McMaster, Robot calibration using a 3D vision-based measurement system with a single camera, Robotics and Computer-Integrated Manufacturing, 17(6) (2001) 487–497.

    Article  Google Scholar 

  14. S. Hu et al., A novel self-calibration method with POE-based model and distance error measurement for serial manipulators, Journal of Mechanical Sciences and Technology, 31(10) (2017) 4911–4923.

    Article  Google Scholar 

  15. G. Ecorchard and P. Maurine, Self-calibration of delta parallel robots with elastic deformation compensation, Proc. of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alta., Canada (2005) 1283–1288.

  16. Y. J. Chiu and M. H. Perng, Self-calibration of a general hexapod manipulator with enhanced precision in 5-dof motions, Mechanism and Machine Theory, 39(1) (2004) 1–23.

    Article  Google Scholar 

  17. H. K. Lee, K. Choi, J. Park and H. Myung, Selfcalibration of gyro using monocular slam for an indoor mobile robot, International Journal of Control, Automation and Systems, 10(3) (2012) 558–566.

    Article  Google Scholar 

  18. E. Hernández-Martínez, C. López-Cajún and J. Jáuregui-Correa, Calibration of parallel manipulators and their application to machine tools, A state of the art survey, Ingeniería Investigación y Tecnología, 11(2) (2010) 141–154.

    Article  Google Scholar 

  19. W. Khalil and S. Besnard, Self-calibration of Stewart-Gough parallel robots without extra sensors, Robotics and Automation, IEEE, 15(6) (1999) 1029–1033.

    Google Scholar 

  20. A. Rauf and J. Ryu, Fully autonomous calibration of parallel manipulators by imposing position constraint, Proc. of 2001 ICRA. IEEE International Conference on Robotics and Automation, Seoul, Korea, 3 (2001) 2389–2394.

  21. A. Rauf, A. Pervez and J. Ryu, Experimental results on kinematic calibration of parallel manipulators using a partial pose measurement device, IEEE Transactions on Robotics, 22(2) (2006) 379–384.

    Article  Google Scholar 

  22. Z. Zhang, A flexible new technique for camera calibration, Pattern Analysis and Machine Intelligence, IEEE, 22(11) (2000) 1330–1334.

    Article  Google Scholar 

  23. J. Gallardo-Alvarado, M. A. García-Murillo and E. Castillo-Castaneda, A 2(3-RRPS) parallel manipulator inspired by Gough-Stewart platform, Robotica, 31(3) (2013) 381–388.

    Article  Google Scholar 

  24. J. E. Ha, Improved algorithm for the extrinsic calibration of a camera and laser range finder using 3D-3D correspondences, International Journal of Control, Automation and Systems, 13(5) (2015) 1272–1276.

    Article  Google Scholar 

  25. ISO 5725-2:1994, Accuracy (Trueness and Precision) of Measurement Methods and Results — Part 2: Basic Method for the Determination of Repeatability and Reproducibility of a Standard Measurement Method, International Organization for Standardization, Geneva, Switzerland (1994).

    Google Scholar 

  26. J. Mandel, Analyzing interlaboratory data according to ASTM standard E691, Quality and Statistics: Total Quality Management, Ed. M. Kowalewski, ASTM International (1994) 59–70.

  27. I. A. Bonev and J. Ryu, A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators, Mechanism and Machine Theory, 36(1) (2001) 1–13.

    Article  Google Scholar 

  28. J. Y. Bouguet, Camera Calibration Toolbox for Matlab, http://www.vision.caltech.edu/bouguetj, Last access: 05/05/2019.

Download references

Acknowledgments

The authors acknowledge the support of the Consejo Nacional de Ciencia y Tecnología (National Council of Science and Technology, CONACYT), of México, through SNI (National Network of Researchers) fellowships and scholarships.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Guanajuato, Salamanca, 36000, Mexico

    Mauricio Arredondo-Soto, Mario A. García-Murillo, J. Jesús Cervantes-Sánchez & Felipe J. Torres

  2. Faculty of Mechanical and Electrical Engineering, Autonomous University of Coahuila, Torreón, 27276, Coahuila, Mexico

    Hector A. Moreno-Avalos

Authors
  1. Mauricio Arredondo-Soto
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mario A. García-Murillo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. J. Jesús Cervantes-Sánchez
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Felipe J. Torres
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Hector A. Moreno-Avalos
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mario A. García-Murillo.

Additional information

Mauricio Arredondo-Soto received his Master’s degree in Mechanical Engineering with a major in robotics and dynamics at the University of Guanajuato, Mexico, in 2019. He is interested in theoretical dynamics for medical applications and control theory.

Mario A. Garcia-Murillo received his degree in Mechanical Engineering from the University of Chapingo in 2008. In 2010, he obtained his M.Sc. in Mechanical Engineering from Celaya Institute of Technology in México. He earned his Ph.D. from IPN CICATA Querétaro in 2015. Dr. García-Murillo is currently a full-time Professor in the Department of Mechanical Engineering of the University of Guanajuato and he is a member of the SNI of México. His current research interests include kinematics and dynamics of manipulators.

J. Jesús Cervantes-Sánchez is a Professor of the Department of Mechanical Engineering, Universidad de Guanajuato, Salamanca, Guanajuato, México. He received his Ph.D. in Mechanical Engineering from Universidad de Guanajuato. His research interests include analysis and synthesis of mechanical systems, machine dynamics, mechanisms and manipulators.

Felipe-de-Jesús Torres received the M.C. degree in Mechatronics Engineering in 2008, and the Ph.D. degree in Electronics Engineering in 2017, from the National Center of Research and Technological Development, Mexico. He is currently a full-time Professor at University of Guanajuato, Mexico. His research interests include nonlinear control, robotics, and mechatronic systems.

Hector. A. Moreno received the B.S. degree in Mechanical Engineering in 2004 and the M. S. degree in Electrical Engineering in 2006, both from the Instituto Tecnológico de la Laguna, in Mexico. He earned a M.S. and Ph.D. degree in Automation and Robotics at the Universidad Politécnica de Madrid, in 2009 and 2013, respectively. He is currently an Associated Professor at the Universidad Autónoma de Coahuila, in México. His research interests include kinematics, dynamics, and control of manipulators and mobile robots.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Arredondo-Soto, M., García-Murillo, M.A., Cervantes-Sánchez, J.J. et al. Identification of geometric parameters of a parallel robot by using a camera calibration technique. J Mech Sci Technol 35, 729–737 (2021). https://doi.org/10.1007/s12206-021-0133-z

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-021-0133-z

Keywords

Search

Navigation