Thermal deflection decoupled 6-DOF pose measurement of hexapods
Proceedings of the 20th international conference of the European Society for Precision Engineering and Nanotechnology, European Society for Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva, Switzerland Calibration is crucial for hexapods with high-accuracy positioning capability....
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| creator | Kalas, Vinayak Jagannathrao Vissiere, Alain Company, Olivier Krut, Sébastien Noiré, Pierre Roux, Thierry Pierrot, François |
| description | Proceedings of the 20th international conference of the European
Society for Precision Engineering and Nanotechnology, European Society for
Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva,
Switzerland Calibration is crucial for hexapods with high-accuracy positioning
capability. Many of these calibration procedures require measurement of
hexapod's platform pose (position and orientation) at constant temperature.
Consequently, thermal deflection of the hexapod's platform during pose
measurements impacts the accuracy of calibrated parameters. This paper presents
a method to eliminate the impact of thermal deflection of hexapods on their
pose measurement. In this method, a reference pose is measured before each
measurement of any particular pose. The measurements of reference pose are used
to estimate thermal deflection of hexapod's legs. This is in turn used to
estimate and correct the resulting pose error at the particular pose to be
measured. The advantage of using the proposed method is demonstrated
experimentally by means of pose measurements of a high-precision hexapod using
a CMM. |
| doi_str_mv | 10.48550/arxiv.2006.04448 |
| format | Article |
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Society for Precision Engineering and Nanotechnology, European Society for
Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva,
Switzerland Calibration is crucial for hexapods with high-accuracy positioning
capability. Many of these calibration procedures require measurement of
hexapod's platform pose (position and orientation) at constant temperature.
Consequently, thermal deflection of the hexapod's platform during pose
measurements impacts the accuracy of calibrated parameters. This paper presents
a method to eliminate the impact of thermal deflection of hexapods on their
pose measurement. In this method, a reference pose is measured before each
measurement of any particular pose. The measurements of reference pose are used
to estimate thermal deflection of hexapod's legs. This is in turn used to
estimate and correct the resulting pose error at the particular pose to be
measured. The advantage of using the proposed method is demonstrated
experimentally by means of pose measurements of a high-precision hexapod using
a CMM.</description><identifier>DOI: 10.48550/arxiv.2006.04448</identifier><language>eng</language><subject>Computer Science - Robotics ; Physics - Classical Physics</subject><creationdate>2020-06</creationdate><rights>http://arxiv.org/licenses/nonexclusive-distrib/1.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,776,881</link.rule.ids><linktorsrc>$$Uhttps://arxiv.org/abs/2006.04448$$EView_record_in_Cornell_University$$FView_record_in_$$GCornell_University$$Hfree_for_read</linktorsrc><backlink>$$Uhttps://doi.org/10.48550/arXiv.2006.04448$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Kalas, Vinayak Jagannathrao</creatorcontrib><creatorcontrib>Vissiere, Alain</creatorcontrib><creatorcontrib>Company, Olivier</creatorcontrib><creatorcontrib>Krut, Sébastien</creatorcontrib><creatorcontrib>Noiré, Pierre</creatorcontrib><creatorcontrib>Roux, Thierry</creatorcontrib><creatorcontrib>Pierrot, François</creatorcontrib><title>Thermal deflection decoupled 6-DOF pose measurement of hexapods</title><description>Proceedings of the 20th international conference of the European
Society for Precision Engineering and Nanotechnology, European Society for
Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva,
Switzerland Calibration is crucial for hexapods with high-accuracy positioning
capability. Many of these calibration procedures require measurement of
hexapod's platform pose (position and orientation) at constant temperature.
Consequently, thermal deflection of the hexapod's platform during pose
measurements impacts the accuracy of calibrated parameters. This paper presents
a method to eliminate the impact of thermal deflection of hexapods on their
pose measurement. In this method, a reference pose is measured before each
measurement of any particular pose. The measurements of reference pose are used
to estimate thermal deflection of hexapod's legs. This is in turn used to
estimate and correct the resulting pose error at the particular pose to be
measured. The advantage of using the proposed method is demonstrated
experimentally by means of pose measurements of a high-precision hexapod using
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Society for Precision Engineering and Nanotechnology, European Society for
Precision Engineering and Nanotechnology (euspen), Jun 2020, Geneva,
Switzerland Calibration is crucial for hexapods with high-accuracy positioning
capability. Many of these calibration procedures require measurement of
hexapod's platform pose (position and orientation) at constant temperature.
Consequently, thermal deflection of the hexapod's platform during pose
measurements impacts the accuracy of calibrated parameters. This paper presents
a method to eliminate the impact of thermal deflection of hexapods on their
pose measurement. In this method, a reference pose is measured before each
measurement of any particular pose. The measurements of reference pose are used
to estimate thermal deflection of hexapod's legs. This is in turn used to
estimate and correct the resulting pose error at the particular pose to be
measured. The advantage of using the proposed method is demonstrated
experimentally by means of pose measurements of a high-precision hexapod using
a CMM.</abstract><doi>10.48550/arxiv.2006.04448</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Computer Science - Robotics Physics - Classical Physics |
| title | Thermal deflection decoupled 6-DOF pose measurement of hexapods |
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