대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 추계학술대회
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- Pages.1494-1499
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- 2003
새로운 측정장비를 이용한 병렬구조 로봇의 보정에 관한
Calibration of Parallel Manipulators using a New Measurement Device
- Rauf, Abdul (Department of Mechatronics, Kwangju Institute of Science and Technology) ;
- Kim, Sung-Gaun (Department of Mechatronics, Kwangju Institute of Science and Technology) ;
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Ryu, Je-Ha
(Department of Mechatronics, Kwangju Institute of Science and Technology)
- 발행 : 2003.11.05
초록
Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.
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