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
- 1,494 - 1,499 (6page)
이용수
초록· 키워드
오류제보하기
Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as
to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the
orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This
paper proposes a new device that can be used to identify all kinematic parameters with partial pose
measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The
device, however, is general and can be used for other parallel manipulators. The proposed device consists of a
link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When
attached between the base and the mobile platform, the device restricts the end-effector’s motion to five
degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses
of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the
identification is robust for the errors in the initial guess and the measurement noise.
to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the
orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This
paper proposes a new device that can be used to identify all kinematic parameters with partial pose
measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The
device, however, is general and can be used for other parallel manipulators. The proposed device consists of a
link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When
attached between the base and the mobile platform, the device restricts the end-effector’s motion to five
degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses
of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the
identification is robust for the errors in the initial guess and the measurement noise.
목차
Abstract
1. Introduction
2. Description of the Mechanism
3. Calibration Device and Procedure
4. Simulations and Discussions
5. Conclusions and Future Work
References
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