A Stereo-Vision Based Compensation Method for Pose Error of a 6-DOF Parallel Manipulator with 3-2-1 Orthogonal Chains
This paper puts forward an algorithm to compensate the pose error of a 6-DOF (six degrees of freedom) parallel manipulator based on stereo vision. Firstly, under the principle of rigid motion, the position and orientation are expressed by coordinates of three feature points which are not in a same line. At the same time, the position and orientation of the moving platform at current moment are also computed. Then, according to the kinematics model of parallel manipulator and its pose at the current moment, the input-values of the micro-displacement drivers are computed. At the end, these input-values are utilized to compensate the pose error of the moving platform. The simulation results demonstrate that the compensated curve of the parallel manipulator is fitting well with its actual curve.
ShuPing Zhang YongSheng Ding KuangRong Hao
College of Information Sciences and Technology College of Information Sciences and Technology Engineering Research Center of Digitized Textile & Fa
国际会议
2008 International Conference on Audio，Language and Image Processing(2008国际声音、语言、图像过程大会)
镇江
英文
1540-1544
2008-07-07（万方平台首次上网日期，不代表论文的发表时间）