Kinematic Calibration Based on the Multicollinearity Diagnosis of a 6-DOF Polishing Hybrid Robot Using a Laser Tracker

Abstract

A general methodology for ensuring the geometric accuracy of a 6-DOF polishing hybrid robot having a 3UPS and UP parallel mechanism and a 3-DOF wrist is presented. The process is implemented in three steps: formulation of the error model containing complete source errors such as offset errors of the actuated joints and structural errors of the joints and links utilizing product of exponentials formula and screw theory. Measurement of the full pose error twist with a specially designed measurement tool having three reference points was undertaken. Identification of the source errors by a stepwise identification strategy to overcome the ill-conditioned problem arising from the multicollinearity and development of a linearized error compensator was completed. An experiment has been carried out on the prototype, and the results show that, after calibration, a position volumetric error of 0.07 mm and an orientation error of 0.07 degrees can be achieved over the cubic task workspace with repeatability of 0.016 mm and 0.010 degrees.