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High-Precision Absolute Pose Sensing for Parallel Mechanisms.

Constantin Schempp1,2, Stefan Schulz1

  • 1Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstraße 1, 76228 Karlsruhe, Germany.

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Summary
This summary is machine-generated.

This study introduces a direct pose measurement system for parallel mechanisms using cameras and fiducial tags. This method overcomes limitations of indirect measurements, improving accuracy for high-precision robotics.

Keywords:
camera systemdirect kinematic problemfiducial tagshigh precisionmachine visionparallel kinematics

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Measurement Science

Background:

  • Parallel mechanisms typically rely on indirect pose estimation via direct kinematics.
  • This indirect method is susceptible to errors from joint tolerances, backlash, misalignment, and deformations.
  • Unobservable errors like backlash and thermal expansion significantly limit precision in sensitive applications.

Purpose of the Study:

  • To propose and design a direct, highly accurate, and absolute pose measurement system for parallel mechanisms.
  • To investigate the accuracy of this novel measurement system.
  • To overcome the inherent limitations of indirect pose estimation in parallel kinematic machines.

Main Methods:

  • Implementation of a camera module on the base platform.
  • Utilizing an array of fiducial tags on the movable manipulator platform.
  • Direct pose measurement using visual feedback, bypassing indirect kinematic calculations.

Main Results:

  • The proposed system provides a direct and absolute measurement of the parallel mechanism's pose.
  • Accuracy is enhanced by overcoming limitations of indirect methods, such as backlash and thermal effects.
  • Experimental validation on a Physik Instrumente H-811.I2 hexapod demonstrates the system's effectiveness.

Conclusions:

  • A novel direct pose measurement system using camera and fiducial tags is presented.
  • This system offers a significant improvement in accuracy for parallel mechanisms.
  • The method is particularly beneficial for high-precision applications previously hindered by indirect measurement limitations.