Forward kinematic model improvement of a spherical parallel manipulator using an extra sensor

Abstract In this paper an approach to improve the calculation of the forward kinematic model (FKM) of a spherical parallel manipulator (SPM) is presented and tested experimentally. This approach is based on adding an extra sensor on a passive joint. The measure of the passive joint angle reduces the complexity of the forward kinematic model and makes it possible for real time. The use of the extra sensor eliminates the effect of the parallel singularity on the FKM accuracy. An investigation is carried out to choose the position of the extra sensor that gives the better accuracy of the FKM. Experiments are carried out to prove the benefit of the redundant sensor on the FKM.

[1]  Med Amine Laribi,et al.  Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Enric Celaya.  Interval Propagation for Solving Parallel Spherical Mechanisms , 2002 .

[3]  S. Bai.  Optimum design of spherical parallel manipulators for a prescribed workspace , 2010 .

[4]  Jean-Pierre Merlet,et al.  Direct kinematics of parallel manipulators , 1993, IEEE Trans. Robotics Autom..

[5]  Med Amine Laribi,et al.  A design of slave surgical robot based on motion capture , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[6]  Huapeng Wu.  Parallel Manipulators, towards New Applications , 2008 .

[7]  Shaoping Bai,et al.  Forward kinematics of spherical parallel manipulators with revolute joints , 2008, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[8]  Jeha Ryu,et al.  A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors , 2001, IEEE Trans. Robotics Autom..

[9]  Jorge Angeles,et al.  A robust forward-displacement analysis of spherical parallel robots , 2009 .

[10]  Med Amine Laribi,et al.  Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity , 2015, Robotica.

[11]  Med Amine Laribi,et al.  On the Kinematics of Spherical Parallel Manipulators for Real Time Applications , 2013 .

[12]  C. Gosselin,et al.  The direct kinematics of planar parallel manipulators: Special architectures and number of solutions , 1994 .

[13]  Asier Zubizarreta,et al.  Redundant sensor based control of the 3RRR parallel robot , 2012 .

[14]  C. Gosselin,et al.  On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture , 1994 .

[15]  Shahram Payandeh,et al.  Analysis and Experimentation of a 4-DOF Haptic Device , 2008, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

[16]  Rocco Vertechy,et al.  Robust, Fast and Accurate Solution of the Direct Position Analysis of Parallel Manipulators by Using Extra-Sensors , 2008 .

[17]  Clément Gosselin,et al.  On the development of the Agile Eye , 1996, IEEE Robotics Autom. Mag..

[18]  Clément Gosselin,et al.  SHaDe, a new 3-DOF haptic device , 2002, IEEE Trans. Robotics Autom..

[19]  Qi An,et al.  Interference analysis and workspace optimization of 3-RRR spherical parallel mechanism , 2013 .

[20]  Jean-Pierre Merlet.  Closed-form resolution of the direct kinematics of parallel manipulators using extra sensors data , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[21]  Med Amine Laribi,et al.  Synthesis of spherical parallel manipulator for dexterous medical task , 2012 .