TY - JOUR
T1 - Stiffness estimation of a parallel manipulator using image analysis and camera calibration techniques
AU - Gonzalez-Hernandez, Abraham
AU - Castillo-Castaneda, Eduardo
PY - 2013/7
Y1 - 2013/7
N2 - This work presents a methodology using image analysis to estimate the experimental stiffness of a parallel robot, Parallix LKF-2040, a 3-degree-of-freedom manipulator. The proposed methodology has a simple implementation and can be applied to different architectures of parallel robots. This methodology uses image analysis and camera calibration techniques to estimate compliant displacements of mobile platform produced by several loads at the end effector level, and calculate stiffness in a specific position of mobile platform. Experimental results are presented for different positions within the workspace.
AB - This work presents a methodology using image analysis to estimate the experimental stiffness of a parallel robot, Parallix LKF-2040, a 3-degree-of-freedom manipulator. The proposed methodology has a simple implementation and can be applied to different architectures of parallel robots. This methodology uses image analysis and camera calibration techniques to estimate compliant displacements of mobile platform produced by several loads at the end effector level, and calculate stiffness in a specific position of mobile platform. Experimental results are presented for different positions within the workspace.
KW - Camera calibration
KW - Image analysis
KW - Parallel manipulator
KW - Stiffness
UR - http://www.scopus.com/inward/record.url?scp=84879105685&partnerID=8YFLogxK
U2 - 10.1017/S0263574712000641
DO - 10.1017/S0263574712000641
M3 - Artículo
SN - 0263-5747
VL - 31
SP - 657
EP - 667
JO - Robotica
JF - Robotica
IS - 4
ER -