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http://dx.doi.org/10.3795/KSME-A.2005.29.6.795

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

Park Kun Woo (창원대학교 메카트로닉스공학부)
Lee Min Ki (창원대학교 메카트로닉스공학부)
Kim Tae Sung (창원대학교 대학원 제어계측공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.29, no.6, 2005 , pp. 795-803 More about this Journal
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.
Keywords
Calibration Configuration; Kinematic Parameter; Measurement Operator; Observation Matrix; QR-Decomposition;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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