Calibration Methods of Planar Parallel Robot

被引：0

作者：

Li Weida ^{[1
]}

Li Juan ^{[1
]}

Sun Lining ^{[2
]}

机构：

[1] Soochow Univ, Robot & Micro Syst Res Ctr, Sch Elect Engn, Suzhou, Peoples R China

[2] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin, Peoples R China

来源：

FUNCTIONAL MANUFACTURING TECHNOLOGIES AND CEEUSRO II | 2011年 / 464卷

关键词：

Parallel robot; caliraton method; multiple-step identification;

D O I：

10.4028/www.scientific.net/KEM.464.340

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Kinematic calibration is an effective method of improving robotic absolute position accuracy by means of measurement, identification and compensation etc. This paper investigates the technology of kinematic calibration and error compensation for the 2-DOF planar parallel robot. A multi-step calibration method is presented based on error itterative method and nonlinear optimum method. Experimental results indicate that the proposed method can effectively compensate position error of the robot in Oxy plane, and the absolute position error of the calibrated robot is less than 6 mu m.

引用

页码：340 / +

页数：2

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