Study on Calibration for Parallel-Typed Tilting Table

병렬기구형 틸팅 테이블의 보정에 관한 연구

  • 김태성 (국립 창원대학교 대학원) ;
  • 정진욱 (국립 창원대학교 대학원) ;
  • 김용희 (국립 창원대학교 대학원) ;
  • 박근우 (국립 창원대학교 메카트로닉스공학부) ;
  • 이민기 (국립 창원대학교 메카트로닉스공학부)
  • Published : 2003.11.05

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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