Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Study on Kinematic Calibration of a Parallel-typed Machining Center Tool

병렬기구형 공작기졔의 기구학적 보정에 관한 연구

  • 이민기 (창원대학교 메카트로닉스공학부) ;
  • 김태성 (창원대학교 대학원 제어계측공학과) ;
  • 박근우 (창원대학교 메카트로닉스공학부)
  • Published : 2002.11.01
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Abstract

This research develops a low-cost and high accuracy kinematic calibration method based on the following principles: 1) the platform locations are accurately measured by a constrained movement to inspect a calibration target; 2) the constrained movement is chosen to guarantee the parameter observability; 3) the mechanical fixture to constrain the movement and the sensor to check the constrained movement are implemented by low-cost and high-accuracy devices; 4) the calibration is easily done at an industrial environment. The kinematic parameters calibrated with respect to a single plane aren't influenced due to the misalignment of the plane. A parameter observability is successfully obtained even through one planar constraint, which guarantees that all kinematic parameters are estimated by minimizing the cost function.

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References

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