Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation

被引：0
|
作者：
Yu, Dayong [1 ]
Sun, Xiwei [1 ]
Liu, Sheng [1 ]
机构：
[1] Harbin Engn Univ, Coll Automat, Harbin, Heilongjiang Pr, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
Parallel Robot; Kinematic Calibration; Parameter estimation; Optimum Pose; Accuracy; STEWART PLATFORMS; SELF-CALIBRATION; MANIPULATORS;
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 method for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking mechanism motion simulator. To implement this method, 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. According to the established calibration equation and the simulation, the geometrical parameters of the parallel robot are identified. The effectiveness of the calibration method with a coordinate measuring machine is verified through random pose test experiment.
引用
收藏
页码：3927 / 3932
页数：6
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