Kinematic calibration of parallel robots

被引：0
|
作者：
Yu, Dayong [1 ]
Han, Junwei [1 ]
机构：
[1] Harbin Inst Technol, Sch Mech & Elect Engn, Harbin, Heilongjiang Pr, Peoples R China
来源：
2005 IEEE International Conference on Mechatronics and Automations, Vols 1-4, Conference Proceedings | 2005年
关键词：
kinematic calibration; parallel robot; error modeling; coordinate measurement; parameter identification;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new algorithm for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking simulator. To implement this algorithm, a calibration equation is built by generating the constraint conditions of the end-effector's motion in the workspace using a three-dimensional coordinate measuring machine. These measurement data are used to identify the parameters of the calibration equation resulting in an accuracy improvement of RMS (root mean squares errors) a factor of 2.7 for the position and a factor of 3.9 for the orientation.
引用
收藏
页码：521 / 525
页数：5
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