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RISS 인기검색어
- 검색키워드
- 저자 : 압둘 아우프(Abdul Rauf) (검색결과 1 건)
- 무료
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- 유료
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Calibration of Parallel Manipulators using a New Measurement Device
압둘 아우프(Abdul Rauf),김성관(Sung-Gaun Kim),류제하(Jeha Ryu) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as<br/> to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the<br/> orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This<br/> paper proposes a new device that can be used to identify all kinematic parameters with partial pose<br/> measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The<br/> device, however, is general and can be used for other parallel manipulators. The proposed device consists of a<br/> link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When<br/> attached between the base and the mobile platform, the device restricts the end-effector’s motion to five<br/> degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses<br/> of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the<br/> identification is robust for the errors in the initial guess and the measurement noise.
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