Kinematic model calibration of a 7-DOF capstan-driven haptic device for pose and force control accuracy improvement

2013-01-01
The literature on kinematic calibration of industrial robots and haptic devices suggests that proper model calibration is indispensable for accurate pose estimation and precise force control. Despite the variety of studies in the literature, the effects of transmission errors on positioning accuracy or the enhancement of force control by kinematic calibration is not fully studied. In this article, an easy to implement kinematic calibration method is proposed for the systems having transmission errors. The presented method is assessed on a 7-DOF Phantom-like haptic device where transmission errors are inherently present due to the use of capstan drives. Simulation results on pose estimation accuracy and force control precision are backed up by experiments.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE

Suggestions

Kinematic calibration of industrial robots using full pose measurements and optimal pose selection
Yurttagül, Berk; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2010)
This study focuses on kinematic calibration of industrial robots. Kinematic modeling, parameter identification and optimal pose selection methods are presented. A computer simulation of the kinematic calibration is performed using generated measurements with normally distributed noise. Furthermore, kinematic calibration experiments are performed on an ABB IRB 6600 industrial robot using full pose measurements taken by a laser tracking system. The kinematic model of the robot is developed using the modified ...
Prediction of slip in cable-drum systems using structured neural networks
KILIÇ, Ergin; Dölen, Melik (SAGE Publications, 2014-02-01)
This study focuses on the slip prediction in a cable-drum system using artificial neural networks for the prospect of developing linear motion sensing scheme for such mechanisms. Both feed-forward and recurrent-type artificial neural network architectures are considered to capture the slip dynamics of cable-drum mechanisms. In the article, the network development is presented in a progressive (step-by-step) fashion for the purpose of not only making the design process transparent to the readers but also hig...
CFD analysis of a notebook computer thermal management solution
Yalçın, Fidan Seza; Tarı, İlker; Department of Mechanical Engineering (2008)
In this study, the thermal management system of a notebook computer is investigated by using a commercial finite volume Computational Fluid Dynamics (CFD) software. After taking the computer apart, all dimensions are measured and all major components are modeled as accurately as possible. Heat dissipation values and necessary characteristics of the components are obtained from the manufacturer's specifications. The different heat dissipation paths that are utilized in the design are investigated. Two active...
Vibration-based damage identification in beam-like composite laminates by using artificial neural networks
Şahin, Melin (SAGE Publications, 2003-01-01)
This paper investigates the effectiveness of the combination of global (changes in natural frequencies) and local (curvature mode shapes) vibration-based analysis data as input for artificial neural networks (ANNs) for location and severity prediction of damage in fibre-reinforced plastic laminates. A finite element analysis tool has been used to obtain the dynamic characteristics of intact and damaged cantilever composite beams for the first three natural modes. Different damage scenarios have been introdu...
Mechanical fatique and life estimation analysis of printed circuit board components
Genç, Cem; Ünlüsoy, Yavuz Samim; Department of Mechanical Engineering (2006)
In this thesis, vibration induced fatigue life analysis of axial leaded Tantalum & Aluminum capacitors, PDIP and SM capacitors mounted on the printed circuit boards are performed. This approach requires the finite element model, material properties and dynamic characteristics of the PCB. The young modulus of the PCB material is obtained from 3 point bending tests, resonance frequencies are obtained from modal tests and transmissibility’s of the PCB are obtained from transmissibility tests which are used as ...
Citation Formats
O. Baser and E. İ. Konukseven, “Kinematic model calibration of a 7-DOF capstan-driven haptic device for pose and force control accuracy improvement,” PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, pp. 1328–1340, 2013, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/35166.