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

  • 제27권4호
  • /
  • Pages.647-655
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  • 2003
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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구속연산자에 의한 보정 시스템의 관측성에 관한 연구

Study on the Observability of Calibration System with a Constraint Oprerator

  • 이민기 (창원대학교 메카트로닉스공학부) ;
  • 김태성 (창원대학교 대학원 제어계측공학과) ;
  • 박근우 (창원대학교 메카트로닉스공학부)
  • 발행 : 2003.04.01
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초록

This paper studies the observability of calibration system with a constraint movement by a constraint operator. The calibration system with the constraint movement need only simple sensing device to check whether the constraint movements are completed within an established range. However, it yields the concern about the poor parameter observability due to the constraint movements. 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 are examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a parallel typed machining center and the calibration results are presented. These results verify that the calibration system with low-cost indicators and simple planar table is accurate as well as reliable.

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참고문헌

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