Method for kinematic calibration of Stewart platforms
A Stewart platform is a six degrees of freedom parallel manipulator composed of six variable-length legs connecting a fixed base to a movable plate. Like all parallel manipulators, Stewart platforms offer high force/torque capability and high structural rigidity in exchange for small workspace and reduced dexterity. Because the solution for parallel manipulators' forward kinematics is in general much harder than their inverse kinematics, a typical control strategy for such manipulators is to specify the plate's pose in world coordinates and then solve the individual leg lengths. The accuracy of the robot critically depends on accurate knowledge of the device's kinematic parameters. This article focuses on the accuracy improvement of Stewart platforms by means of calibration. Calibration of Stewart platforms consists of construction of a kinematic model, measurement of the position and orientation of the platform in a reference coordinate frame, identification of the kinematic parameters, and accuracy compensation. A measurement procedure proposed in this article allows a great simplification of the kinematic identification. The idea is to keep the length of the particular leg, whose parameters are to be identified, fixed while the other legs change their lengths during the measurement phase. By that, redundant parameters can be eliminated systematically in the identification phase. The method also shows the estimation of each leg's parameters separately because the measurement equations are fully decoupled, which results in a drastical reduction of the computational effort in the parameter identification. Simulation results assess the performance of the proposed approach.(Author abstract)
유료 다운로드의 경우 해당 사이트의 정책에 따라 신규 회원가입, 로그인, 유료 구매 등이 필요할 수 있습니다. 해당 사이트에서 발생하는 귀하의 모든 정보활동은 NDSL의 서비스 정책과 무관합니다.
NDSL에서는 해당 원문을 복사서비스하고 있습니다. 위의 원문복사신청 또는 장바구니 담기를 통하여 원문복사서비스 이용이 가능합니다.
- 이 논문과 함께 출판된 논문 + 더보기