Modeling for calibration of parallel robot

被引：0
作者：
Peng, Binbin [1 ]
Gao, Feng [2 ]
机构：
[1] Institute of Robotics, Beihang University
[2] Laboratory of Vibration, Shock and Noise, Shanghai Jiaotong University
来源：
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2005年 / 41卷 / 08期
关键词：
Calibration; Modeling; Parallel robot; System error;
D O I：
10.3901/jme.2005.08.132
中图分类号：
学科分类号：
摘要：
At the step of measurement for calibration of parallel robot, the system error will be created for the inconsistent reference frame between the spatial coordinate measuring device and the parallel robot. To eliminate the system error, the reference frame of the parallel robot is transformed to the one of the spatial coordinate measuring device at the step of modeling for calibration of parallel robot and a consistent reference frame is obtained. After simulating the process of calibration with the unimproved model and the improved model respectively to a 5-DOF parallel robot, the results indicate that the improved model can eliminate the system error completely while the unimproved model can not. So the improved model is better at improving the accuracy of calibration. The method of modeling for calibration of parallel robot has a highly use value.
引用
收藏
页码：132 / 135
页数：3
相关论文
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