| STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM |
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| 引用本文： | Wu Jiangning Li ShilunState Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou 310027,China. STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM[J]. 机械工程学报(英文版), 2002, 15(4): 334-338,343 |
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| 作者姓名： | Wu Jiangning Li ShilunState Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China |
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| 作者单位： | Wu Jiangning Li ShilunState Key Laboratory of Fluid Power Transmission and Control，Zhejiang University，Hangzhou 310027，China |
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| 基金项目： | This project is supported by National Defense Science and Technology Multi-vocation Foundation in Advance Research of China(No. 97J465JW0408). |
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| 摘 要： | Some approaches to measure parallel 6-degree of freedom platform's posture statically and to calibrate theplatform's actual structural parameters by measuring a series of the platform's varying postures are studied. In the casewhere high posture accuracy is required relatively, to obtain the platform's actual structural parameters is very important.Three dimensions measurement with 2 theodolites are used to obtain the platform's postures statically and Newton iterative method is adopted to calibrate structural parameters. Some measures taken in the measurement and the calibration arediscussed in detail. And the experiment results of the platform's posture control before and after the calibration are given.The results show that the platform's posture control accuracy after the calibration is improved notably.
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STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM |
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| Wu Jiangning Li Shilun. STRUCTURAL PARAMETERS CALIBRATION BY POSTURE MEASUREMENT ON PARALLEL 6-DOF PLATFORM[J]. Chinese Journal of Mechanical Engineering, 2002, 15(4): 334-338,343 |
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| Authors: | Wu Jiangning Li Shilun |
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| Affiliation: | State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China |
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| Abstract: | Some approaches to measure parallel 6-degree of freedom platform's posture statically and to calibrate the platform's actual structural parameters by measuring a series of the platform's varying postures are studied. In the case where high posture accuracy is required relatively, to obtain the platform's actual structural parameters is very important. Three dimensions measurement with 2 theodolites are used to obtain the platform's postures statically and Newton iterative method is adopted to calibrate structural parameters. Some measures taken in the measurement and the calibration are discussed in detail. And the experiment results of the platform's posture control before and after the calibration are given. The results show that the platform's posture control accuracy after the calibration is improved notably. |
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| Keywords: | Parallel 6-DOF platform Theodolite Posture measurement Nonlinear equation group Structural parameters calibration |
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