Proceedings of the KSME Conference (대한기계학회:학술대회논문집)
- 2003.11a
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- Pages.1512-1517
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- 2003
Study on Calibration for Parallel-Typed Tilting Table
병렬기구형 틸팅 테이블의 보정에 관한 연구
Abstract
This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters are identifiable.
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