Kinematic calibration of a wire-actuated parallel robot

被引：32
作者：
Varziri, M. Saeed [1 ]
Notash, Leila
机构：
[1] Queens Univ, Dept Chem Engn, Kingston, ON K7L 3N6, Canada
[2] Queens Univ, Dept Mech & Mat Engn, Kingston, ON K7L 3N6, Canada
来源：
MECHANISM AND MACHINE THEORY | 2007年 / 42卷 / 08期
关键词：
kinematic calibration; parallel robot; wire-actuated robot; parallelogram linkage;
D O I：
10.1016/j.mechmachtheory.2006.07.007
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this article kinematic calibration of a wire-actuated parallel robot is discussed. Available redundant sensing of joint displacements makes it feasible to consider central linkage and wire actuators of the robot one at a time for calibration purposes. Identifiability issues due to the existence of a parallelogram in the central linkage are discussed. Kinematic modelling and parameter estimation of the wire actuators are also carried out. The results are validated through simulations. (c) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：960 / 976
页数：17
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