<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Autonomous robots (manipulators or vehicles) may accumulate significant errors during their long-range motion to a desired position and orientation (pose). These errors, however, can be compensated for by subsequent local, short-range corrective actions to within random noise levels of the system. This paper presents a generic localization method for high-precision parallel kinematic mechanisms (PKMs) in order to allow them to accurately achieve their desired poses. The proposed method employs a novel non-contact spatial sensing technique combined with an iterative posecorrection procedure. The proposed sensing technique is based on the use of multiple spatial lines-of- sights (LOSs) emanating from a single source and ‘hitting’ a planar position sensitive detector (PSD) placed on the PKM’s platform. Using the positional feedback provided by the PSD, the instantaneous actual pose of the platform is accurately estimated. A pose-correction method is subsequently invoked to iteratively guide the platform to its desired location within noise levels. Extensive simulations were carried out to illustrate the effectiveness of the proposed localization method for a spatial PKM being developed in our laboratory.</p></abstract>

Autonomous robots (manipulators or vehicles) may accumulate significant errors during their long-range motion to a desired position and orientation (pose). These errors, however, can be compensated for by subsequent local, short-range corrective actions to within random noise levels of the system. This paper presents a generic localization method for high-precision parallel kinematic mechanisms (PKMs) in order to allow them to accurately achieve their desired poses. The proposed method employs a novel non-contact spatial sensing technique combined with an iterative posecorrection procedure. The proposed sensing technique is based on the use of multiple spatial lines-of- sights (LOSs) emanating from a single source and ‘hitting’ a planar position sensitive detector (PSD) placed on the PKM’s platform. Using the positional feedback provided by the PSD, the instantaneous actual pose of the platform is accurately estimated. A pose-correction method is subsequently invoked to iteratively guide the platform to its desired location within noise levels. Extensive simulations were carried out to illustrate the effectiveness of the proposed localization method for a spatial PKM being developed in our laboratory.

Line-of-Sight Based 3D Localization of Parallel Kinematic Mechanisms

International Journal on Smart Sensing and Intelligent Systems

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Line-of-Sight Based 3D Localization of Parallel Kinematic Mechanisms"}

Autonomous robots (manipulators or vehicles) may accumulate significant errors during their long-range motion to a desired position and orientation (pose)....

Line-of-Sight Based 3D Localization of Parallel Kinematic Mechanisms

Pubblicato online: 01 giu 2015

Pagine: 842 - 868

Ricevuto: 25 mar 2015

Accettato: 15 apr 2015

DOI: https://doi.org/10.21307/ijssis-2017-786

© 2015 Erkai Zhou et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.