Kinematic Calibration of In-Parallel Actuated Mechanisms Using Fourier Series. 1st Report. Calibration Method and Selection Method of the Set of Measurement Paths.

Abstract

For kinematic calibration of robots, we proposed using a low order Fourier series obtained by transforming the data for circular measurement paths. The paths were measured using a Double-Ball-Bar (DBB) system. Two non-dimensional 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 paths using these indices was also proposed. The effectiveness of the proposed method, indices, and algorithm was investigated through simulations of kinematic calibration with an in-parallel actuated mechanism.