Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation-Reference-Cited by-同舟云学术

Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation

Published:2011-09-01 Issue:4 Volume:8 Page:47
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Yu Dayong¹,Li Hongren²,Chen Weifang¹

Affiliation:

1. School of Aeronautics and Astronautics, Zhejiang University

2. School of Mechatronics Engineering, Harbin Institute of Technology Hangzhou, Zhejiang Province, China

Abstract

A new method for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking mechanism motion simulator. To implement this method, a calibration equation is built by generating the constraint conditions of the end-effector's motion in the workspace using a three-dimensional coordinate measuring machine. According to the established calibration equation and the simulation, the geometrical parameters of the parallel robot are identified. The effectiveness of the calibration method with a coordinate measuring machine is verified through random pose test experiment.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/45684

Reference16 articles.

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4. Mooring B. W., Roth Z. S., and Driels M. R. “Fundamentals of manipulator calibration,” John Wiley & Sons, New York, pp. 18–21, 1991.

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