Stochastic deterministic calibration of a self balanced hybrid parallel/serial robotic structure

This paper describes the kinematic error model of Navi-Robot, a novel hybrid parallel/serial robotic system, designed to be used for several medical applications. This calibration technique allows modeling the stiffness of the structure taking into account the influence of non-perfect geometry of serial and parallel chains caused by manufacturing errors and mechanical tolerances. The experimentally identified errors have been used to predict, and compensate for, end-point errors as a function of configuration and loads applied, improving the system absolute accuracy. Experimental results show that the adopted methodology is able to effectively correct for the system errors with a significant improvement of robot accuracy. After calibration, the mean/maximum position errors on the end-effector are reduced from 0.743 mm/1.236 mm respectively, to 0.503 mm/0.902 mm.

Stochastic deterministic calibration of a self balanced hybrid parallel/serial robotic structure / Donnici, M; Meduri, S.; Perrelli, M; Battaglia, D; Gatti, G; Pace, Calogero; Danieli, G.. - In: PROBLEMY PRIKLADNOJ MEHANIKI. - ISSN 1512-0740. - 2(2014), pp. 45-56.



Titolo: Stochastic deterministic calibration of a self balanced hybrid parallel/serial robotic structure
Autori: 
PACE, Calogero
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Data di pubblicazione: 2014
Rivista: 
PROBLEMY PRIKLADNOJ MEHANIKI  
Citazione: Stochastic deterministic calibration of a self balanced hybrid parallel/serial robotic structure / Donnici, M; Meduri, S.; Perrelli, M; Battaglia, D; Gatti, G; Pace, Calogero; Danieli, G.. - In: PROBLEMY PRIKLADNOJ MEHANIKI. - ISSN 1512-0740. - 2(2014), pp. 45-56.
Handle: http://hdl.handle.net/20.500.11770/138245
Appare nelle tipologie:1.1 Articolo in rivista

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http://hdl.handle.net/20.500.11770/138245
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