POSE SELECTION FOR THE KINEMATIC CALIBRATION OF A PROTOTYPED 4 DEGREES OF FREEDOM MANIPULATOR

被引：11

作者：

Horne, Andrew ^{[1
]}

Notash, Leila ^{[1
]}

机构：

[1] Queens Univ, Dept Mech & Mat Engn, Kingston, ON, Canada

来源：

TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING | 2009年 / 33卷 / 04期

关键词：

pose selection; kinematic calibration; DESIGN;

D O I：

10.1139/tcsme-2009-0043

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper explores the pose selection for the kinematic calibration of the constraining linkage of a 4 degrees of freedom parallel manipulator. The aim is to select a set of poses out of a larger pool of possible poses which improve the calibration accuracy. Five different criteria have been suggested in the literature and are investigated in this article. The results show that the pose selection criteria did not significantly improve the calibration of this parallel manipulator. There was very little difference between applying the criteria and not applying it and some of the results using the criteria were worse than not using any criteria.

引用

页码：619 / 632

页数：14