한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2005년도 추계학술대회 논문집
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- Pages.197-203
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- 2005
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- 2005-8446(pISSN)
6자유도 측정 장치를 이용한 병렬 기구의 캘리브레이션 실험 결과
Experimental Results on Kinematic Calibration of Parallel Manipulator using 6 DOF Measurement Device
- Rauf Abdul (Department of Mechatronics, GIST) ;
- Pervez Aslam (Department of Mechatronics, GIST) ;
- Kim Hyun-Ho (Department of Mechatronics, GIST) ;
- Ryu Je-Ha (Department of Mechatronics, GIST)
- 발행 : 2005.10.01
초록
This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.