Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Study on Optimal Calibration Configurations of a Parallel Type Machining Center Under a Single Planar Constraint

  • Lee, Min-Ki (Department of Control and Instrumentation Engineering Changwon National University) ;
  • Kim, Tae-Sung (Department of Control and Instrumentation Engineering Changwon National University) ;
  • Park, Kun-Woo (Department of Control and Instrumentation Engineering Changwon National University)
  • Published : 2003.12.01
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Abstract

This paper examines the parameter observability of a calibration system that consrains a mobile platform to a planar table to take the calibration data. To improve the parameter observability, we find the optimal configurations providing the calibration with maximum contribution. The QR-decomposition is used to compute the optimal configurations that maximize the linear independence of rows of an observation matrix. The calibration system is applied to the parallel type manipulator constructed for a machining center. The calibration results show that all the necessary kinematic parameters assigned in a Stewart-Gough platform are identifiable and convergent to desirable accuracy.

Keywords

References

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