Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Study on Kinematic Calibration Method of Stewart Platforms

스튜어트 플랫폼의 기구학적 교정기법에 관한 연구

  • Goo, Sang-Hwa (Dept.of Mechanical Engineering, Busan National University) ;
  • Son, Kwon (Mechanical Technology Research Center, Dept.of Mechanical Engineering, Busan National University)
  • 구상화 (부산대학교 기계공학과) ;
  • 손권 (부산대학교 기계공학부, 기계기술연구소)
  • Published : 2001.02.01
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Abstract

The accuracy problem of robot manipulators has long been one of the principal concerns in robot design and control. A practical and economical way of enhancing the manipulator accuracy, without affecting its hardware, is kinematic calibration. In this paper an effective and practical method is presented for kinematic calibration of Stewart platforms. In our method differential errors in kinematical parameters are linearly related to differential errors in the platform pose, expressed through the forward kinematics. The algorithm is tested using simulated measurement in which measurement noise is included.

Keywords

References

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