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

  • 제29권6호
  • /
  • Pages.795-803
  • /
  • 2005
  • /
  • 1226-4873(pISSN)
  • /
  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
권호 표지
DOI QR코드

DOI QR Code

측정연산자에 의한 병렬기구 틸팅 테이블의 관측성에 관한 연구

Study on the Observability of a Calibration System for a Parallel Tilting Table with Measuerment Operator

  • 박근우 (창원대학교 메카트로닉스공학부) ;
  • 이민기 (창원대학교 메카트로닉스공학부) ;
  • 김태성 (창원대학교 대학원 제어계측공학과)
  • 발행 : 2005.06.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

참고문헌

  1. Kim, T. H, 2002, 'Current Status of Machining Centers in IMTS 2002,' J. of the Korean Society of Precision Engineering, Vol. 19, No. 12, pp. 13-19
  2. Lee, M. K. 2004, 'Table Orientation Control-Typed Machining Center,' Domestic Patent, No. 0441623
  3. Final Report, 2004, 'Development of Table Orientation Control-Typed Complex Shape Machining Center', Industrial Technique Development Project, Ministry of Commerce, Industry and Energy
  4. Decker, S. Prenninger, J. P. Gander, H. and Vincze, M., 1992, 'Dynamic Measurement of Position and Orientation of Robots,' IEEE Conf. Robotics and Automation, pp. 300-304 https://doi.org/10.1109/IMTC.1992.245129
  5. Zhuang, H. Masory, O. and Yan, J., 1995, 'Kinematic Calibration of Stewart Platform Using Pose Measurements Obtained by a Single Theodolite,' in Proc. IROS, pp. 329-335 https://doi.org/10.1109/IROS.1995.526237
  6. Desnard, S. and Khalil, W., 1999, 'Calibration of Parallel Robots Using Two Inclinometers,' Proc. of the 1999 IEEE Int. Conf. on Robotics & Automation Detroit, Michigan, pp. 1758-1763 https://doi.org/10.1109/ROBOT.1999.770363
  7. D. Bennet and J. M. Hollerbach, 'Autonomous calibration of single loop closed kinematic chains formed by manipulators with passive endpoint constraints,' IEEE Trans. Robot. Automat., vol. 7, pp. 597-606, 1991 https://doi.org/10.1109/70.97871
  8. Zhuang, H. Motaghedi, S. H. and Roth, Z. S., 1999, 'Robot Calibration with Planar Constraints,' Proc. of the 1999 IEEE Int. Conf. on Robot. Automat. Detroit, Michigan, pp. 805-810, May https://doi.org/10.1109/ROBOT.1999.770073
  9. Lee, M. K. and Kim, T. S., 2003, 'Constraint Operator for the Kinematic Calibration of a Parallel Mechanism,' KSME Int. J., Vol. 17, No. 1, pp. 23-31
  10. Lee, M. K., Kim, T. S. and Park, K. W., 2003, 'Study on Optimal Calibration Configurations of a Parallel Type Machining Center Under a Single Planar Constraint,' KSME Int. J., Vol. 17, No. 12, pp. 1886~1893
  11. Borm, J. H. and Menq, C. H., 1991, 'Determin-ation of Optimal Measurement Configurations for Robot Calibration Based on Observability Measure,' Int. J. Robot. Res., Vol. 10, No. 1, pp. 51-63 https://doi.org/10.1177/027836499101000106
  12. Menq, C. H. Borm, J. H. and Lai, J. Z., 1989, 'Identification and Observability Measure of a Basis Set of Error Parameters in Robot Calibration,' ASME J. Mech. Trans. Automat. Design, Vol. III, No. 4, pp. 513-518, Dec
  13. Besnard, S. and Khalil, W., 2001, 'Identifiable Parameters for Parallel Robots Kinematic Calibration,' Proc. IEEE Int. Conf. Robot. Automat., Seoul, Korea, pp. 2859-2866 https://doi.org/10.1109/ROBOT.2001.933055
  14. HUNT, K. H., 1978, Kinematic geometry of mechanisms. Oxford Univ. Press
  15. Drie1s, M. R. and Pathre, U. S., 1990, 'Significance of Observation Strategy on the Design of Robot Calibration Experiments,' J. Robot. Syst., Vol. 7, No. 2, pp. 197-223 https://doi.org/10.1002/rob.4620070206
  16. Zhuang, H., Yan, J. and Masory, O., 1998, 'Calibration of Stewart Platforms and Other Parallel Manipulators by Minimizing Kinematic Residuals,' J. Robot. Syst., Vol. 15, No. 7, pp. 395-405 https://doi.org/10.1002/(SICI)1097-4563(199807)15:7<395::AID-ROB2>3.0.CO;2-H