지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2003.11
- 수록면
- 1,476 - 1,481 (6page)
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초록· 키워드
오류제보하기
Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and
installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed.
This paper investigates identifiable parameters and optimum postures for four different calibration procedures
. measuring postures completely with inverse kinematic residuals, measuring postures completely with
forward kinematics residuals, measuring only the three position components, and restraining the mobility of
the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel
HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete
posture measurements. For the case of position measurements, one and for the case of constraint link, three
parameters were found non-identifiable. Selecting postures for measurement is also an important issue for
efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to
find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of
the search space.
installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed.
This paper investigates identifiable parameters and optimum postures for four different calibration procedures
. measuring postures completely with inverse kinematic residuals, measuring postures completely with
forward kinematics residuals, measuring only the three position components, and restraining the mobility of
the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel
HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete
posture measurements. For the case of position measurements, one and for the case of constraint link, three
parameters were found non-identifiable. Selecting postures for measurement is also an important issue for
efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to
find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of
the search space.
목차
Abstract
1. Introduction
2. Description of the Mechanism
3. Identifiable Parameters for Four Calibration Procedures
4. Optimum Postures for Calibration
5. Conclusions
ACKNOWLEDGMENTS
References
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