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Experimental Results on Kinematic Calibration of Parallel Manipulator using 6 DOF Measurement Device
압둘 라우프(Abdul Rauf),아슬람 퍼베즈(Aslam Pervez),김현호(Hyunho Kim),류제하(Jeha Ryu) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.