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Kinematic Calibration and Forecast Error Compensation of a 2-DOF Planar Parallel Manipulator |
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| Authors: | CHANG Peng LI Chengrong LI Tiemin Hi-tech Innovation Center |
| Affiliation: | CHANG Peng1,*,LI Chengrong1,and LI Tiemin2 1 Hi-tech Innovation Center,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China 2 Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084,China Received February 2,2010,revised January 7,2011,accepted June 30,published electronically July 28 |
| Abstract: | Due to large workspace,heavy-duty and over-constrained mechanism,a small deformation is caused and the precision of the 2-DOF planar parallel manipulator is affected.The kinematic calibration cannot compensate the end-effector errors caused by the small deformation.This paper presents a method combined step kinematic calibration and linear forecast real-time error compensation in order to enhance the precision of a two degree-of-freedom(DOF) planar parallel manipulator of a hybrid machine tool.In the step k... |
| Keywords: | parallel manipulator kinematic calibration error compensation minimal linear combinations(MLCs) |
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