哈尔滨工业大学学报（英文版）2007，Vol.14Issue(4)：496-500,5.
Calibration of parallel kinematics machine using generalized distance error model
Calibration of parallel kinematics machine using generalized distance error model
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作者信息
- 1. Dep. of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;Dep. of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China;Dep. of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China
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摘要
Abstract
This paper focus on the accuracy enhancement of parallel kinematics machine through kinematics calibration. In the calibration processing, well-structured identification Jacobian matrix construction and end-effector position and orientation measurement are two main difficulties. In this paper, the identification Jacobian matrix is constructed easily by numerical calculation utilizing the unit virtual velocity method. The generalized distance errors model is presented for avoiding measuring the position and orientation directly which is difficult to be measured. At last, a measurement tool is given for acquiring the data points in the calibration processing.Experimental studies confirmed the effectiveness of method. It is also shown in the paper that the proposed approach can be applied to other typed parallel manipulators.关键词
parallel kinematics machine/ unit virtual velocity method/ generalized distance errors modelKey words
parallel kinematics machine/ unit virtual velocity method/ generalized distance errors model分类
矿业与冶金引用本文复制引用
..Calibration of parallel kinematics machine using generalized distance error model[J].哈尔滨工业大学学报（英文版）,2007,14(4):496-500,5.
