대한기계학회:학술대회논문집 (Proceedings of the KSME Conference)
- 대한기계학회 2003년도 추계학술대회
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- Pages.1512-1517
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- 2003
병렬기구형 틸팅 테이블의 보정에 관한 연구
Study on Calibration for Parallel-Typed Tilting Table
초록
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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