A practical calibration process using partial information for a commercial Stewart platform

被引：13

作者：

Chai, KS ^{[1
]}

Young, K ^{[1
]}

Tuersley, I ^{[1
]}

机构：

[1] Univ Warwick, Dept Engn, Warwick Mfg Grp, Coventry CV4 7AL, W Midlands, England

来源：

ROBOTICA | 2002年 / 20卷

关键词：

Stewart platform; calibration; parallel robot; numerical analysis;

D O I：

10.1017/S0263574701004027

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Most of the calibration methods proposed for the Stewart platform require complex computation or low noise data for the platform's accuracy to be determined. They are not suitable for practical use in a production environment, where the measurement and calibration method should be simple and robust. Using an external laser measuring device to determine the actual accuracy of a Stewart platform, a practical and simple leg length compensating calibration method, that improves the accuracy of the Stewart platform by a magnitude of around 7, is proposed. The procedures and computation algorithms of the calibration method are shown.

引用

页码：315 / 322

页数：8

共 19 条

[1]

BROOKE L, 1994, CHILTONS AUTOMATIVE, V174, P50

[2]

Daney D, 2001, IEEE INT CONF ROBOT, P3262, DOI 10.1109/ROBOT.2001.933121

[3] The Stewart platform manipulator: a review [J].

Dasgupta, B ;

Mruthyunjaya, TS .

MECHANISM AND MACHINE THEORY, 2000, 35 (01) :15-40

[4]

Gerald CF., 1999, APPL NUMERICAL ANAL

[5]

HAUTAU LA, 1999, 1999 HDB IND ROBOTIC, P927

[6]

Landsberger SE, 1985, P SYST MAN CYB C TUC, P812

[7] Parallel topology robot calibration [J].

Lintott, AB ;

Dunlop, GR .

ROBOTICA, 1997, 15 :395-398

[8]

MCCALLION H, 1979, 5TH P WORLD C THEOR, P611

[9]

Merlet J.-P., 2001, PARALLEL ROBOTS

[10]

Mooring B. W., 1991, Fundamentals of Manipulator Calibration

← 1 2 →