English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

This paper deals with the rapid and automatic zero-offset calibration of a 2-DOF parallel robot using distance measurements. The calibration system is introduced with emphasis on the design of a new measuring mechanism. A simplified error model of the robot is proposed after the sensitivity analyses of source errors, based on which a zero-offset identification model is developed using the truncated singular value decomposition (TSVD) method, and then it is modified with the manufacturing and assembly errors of the measuring mechanism (MAEMM). Furthermore, an optimization approach for selecting measurement positions is proposed by considering the condition number of the identification matrix. Finally, simulations and experiments are carried out to verify the effectiveness of the zero-offset calibration method. The results show that the identification model has good identifiability and robustness, and the position accuracy after calibration can be significantly improved.

Rapid and Automatic Zero-Offset Calibration of a 2-DOF Parallel Robot Based on a New Measuring Mechanism