| Calibration of parallel kinematics machine using generalized distance error model |
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| 作者姓名： | References： |
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| 作者单位： | Dep. of Mechanical and Electrical Engineering Harbin Institute of Technology，Dep. of Mechanical and Electrical Engineering Harbin Institute of Technology，Dep. of Mechanical and Electrical Engineering Harbin Institute of Technology，Harbin 150001 China，Harbin 150001 China，Harbin 150001 China |
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| 摘 要： | 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.
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| 关 键 词： | 运动学标度 平行运动机器 个体虚拟速度 广义距离 雅可比短距 |
| 文章编号： | 1005-9113（2007）04-0496-05 |
| 修稿时间： | 2005-03-25 |
Calibration of parallel kinematics machine using generalized distance error model |
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| YANG Xiao-jun,ZHONG Shi-sheng,WANG Zhi-xing.Calibration of parallel kinematics machine using generalized distance error model[J].Journal of Harbin Institute of Technology,2007,14(4):496-500. |
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| Authors: | YANG Xiao-jun ZHONG Shi-sheng WANG Zhi-xing |
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| Affiliation: | Dep. of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| 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. |
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| Keywords: | parallel kinematics machine unit virtual velocity method generalized distance errors model |
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