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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)
Publication Information
Journal of Mechanical Science and Technology / v.17, no.12, 2003 , pp. 1886-1893 More about this Journal
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
Kinematic Parameter; Observability; Observation Matrix; Optimal Calibration Configuration;
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Times Cited By KSCI : 1  (Citation Analysis)
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