ICIRA 2008: Intelligent Robotics and Applications pp 734-743 | Cite as
System Calibration and Error Rectification of Binocular Active Visual Platform for Parallel Mechanism
Abstract
This paper presents a novel binocular active visual platform for monitoring the workspace of a parallel mechanism. Its cameras are mounted on two independent controlled kinematic chains which moving along a circular orbit. The system is designed for precise kinematic calibration of the end-effector on the parallel mechanism and other deepening application. At first, the geometric model of the platform and the 3D reconstruct model based stereo vision are established. Then, in order to eliminate the influence of monitoring accuracy because of the own accuracy of visual system, A dynamic system calibration and error rectification method is proposed. Experiment results show that the approach is effective with respect to dynamic property and calibration accuracy.
Keywords
Calibration Error rectification Visual system Parallel mechanismPreview
Unable to display preview. Download preview PDF.
References
- 1.Wang, J., Masory, O.: On the accuracy of a Stewart platform—Part I: The effect of manufacturing tolerances. In: IEEE Int. Conf. Robot. Autom., Atlanta, GA, pp. 114–120 (1993)Google Scholar
- 2.Khalil, W., Besnard, S.: Self calibration of Stewart-Gough parallel robots without extra sensors. IEEE Trans. Robot. Autom. 15(6), 1116–1121 (1999)CrossRefGoogle Scholar
- 3.Notash, L., Podhorodeski, R.: Fixtureless calibration of parallel manipulators. Trans. CSME 21(3), 273–294 (1997)Google Scholar
- 4.Sato, O., Shimojima, K., Furutani, R., Takamasu, K.: Artefact calibration of parallel mechanism, kinematic calibration with a prioriknowledge. Meas. Sci. Technol. 15, 1158–1165 (2004)CrossRefGoogle Scholar
- 5.Oiwa, T.: Coordinate Measuring Machine using Parallel Mechanism. In: Proc. 16th IMEKO World Congress, Wien, Austria, vol. 8, pp. 211–214 (2000)Google Scholar
- 6.Pierre, R., Nicolas, A., Philippe, M., Grigore, G.: Kinematic Calibration of Parallel Mechanism: A Novel Approach Using Legs Observation. IEEE Transactions on Robotics 21(4), 529–538 (2005)CrossRefGoogle Scholar
- 7.Andreff, N., Martinet, P.: Vision Servoing of a Gough -Stewart Parallel Robot without Proprioceptive Sensors. In: Fifth International Workshop on Robot Motion and Control, pp. 225–230 (2005)Google Scholar
- 8.Andreff, N., Dallej, T., Martinet, P.: Image-based Visual Servoing of a Gough—Stewart Parallel Manipulator using Leg Observations. The International Journal of Robotics Research 26(7), 677–687 (2007)CrossRefGoogle Scholar
- 9.Andreff, N., Martinet, P.: Unifying kinematic modeling identification and control of a Gough-Stewart parallel robot into a Vision-based framework. IEEE Transactions on Robotics 22(4), 1077–1086 (2006)CrossRefGoogle Scholar
- 10.Renaud, P., Andreff, N., Martinet, P., Gogu, G.: Kinematic Calibration of Parallel Mechanisms: A Novel Approach Using Legs Observation. IEEE Transactions on Robotics 21(4), 529–538 (2005)CrossRefGoogle Scholar
- 11.Renaud, P., Andreff, N., Lavest, J., Dhome, M.: Simplifying the Kinematic Calibration of Parallel Mechanisms Using Vision-Based Metrology. IEEE Transactions on Robotics 22(1), 12–22 (2006)CrossRefGoogle Scholar
- 12.Samson, E., Laurendeau, D., Parizeau, M., Comtois, S., Allan, J., Gosselin, C.: The agile stereo pair for active vision. Machine Vision and Applications 17(1), 32–50 (2006)CrossRefGoogle Scholar
- 13.Ma, S.D., Zhang, Z.Y.: Computer Vision: Computational Theory and algorithmic foundation. Science Press, Beijing (2003)Google Scholar
- 14.Zhang, Z.Y.: A flexible new technique for camera calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence 22(11), 1330–1334 (2000)CrossRefGoogle Scholar
- 15.Kong, L.F., Zhang, S.H.: Study on the precision compensation and control for a novel parallel robot. International Journal of Advanced Robot Systems 1(4), 273–286 (2004)Google Scholar