Abstract
SUMMARYA novel off-line technique for automatic calibration of kinematic parameters for hydraulic manipulators is presented. Hydraulically actuated manipulators have joints which are always powered and, unlike conventional robots, may not have conventional joint sensors to exploit in the calibration procedure. Instead, our approach employs an external three-dimensional linkage, termed “the calibrator”, which has sufficient number of joints with corresponding sensors. One end of the calibrator is grasped by the manipulator's end effector while the other end is attached to a passive spherical joint fixed to the world coordinate system. The mobile closed kinematic chain thus formed has the added advantage of eliminating the explicit measurement of the manipulator's endpoint location. A sequential identification technique that uses a least squares numerical search algorithm has been developed based on link-by-link movement of the manipulator. Simulation and experimental calibration results on a typical mobile hydraulic manipulator are reported in this paper, which show that the proposed technique is globally stable, and potentially fast, inexpensive, and easy to apply on site.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
