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

The Korean Society of Mechanical Engineers (대한기계학회)
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Study on the Observability of a Calibration System for a Parallel Tilting Table with Measuerment Operator

측정연산자에 의한 병렬기구 틸팅 테이블의 관측성에 관한 연구

  • 박근우 (창원대학교 메카트로닉스공학부) ;
  • 이민기 (창원대학교 메카트로닉스공학부) ;
  • 김태성 (창원대학교 대학원 제어계측공학과)
  • Published : 2005.06.01
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Abstract

This paper studies the observability of calibration system with a measurement operator. The calibration system needs a simple digital indicator to measure the mobile table movements with respect to the MC coordinate. However, it yields the concern about the poor parameter observability due to measuring only a part of the movements. We uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of an observation matrix. The number of identifiable parameter is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a 6-axis MC with parallel tilting table and the calibration results are presented. These results verify that all necessary kinematic parameters are observable and the calibration system has robustness to the noise using optimal calibration configurations.

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References

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