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김태성(T. S. Kim),정진욱(J. W. Jung),김용희(Y. H. Kiln),박근우(K. W. Park),이민기(M. K. Lee) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters arc identifiable.