KINEMATIC CALIBRATION OF PARALLEL ROBOTS BASED ON LEAST SQUARES ALGORITHM

摘要：

In the application of parallel robots, it is necessary to calibrate the kinematic parameters and improve the pose accuracy for accurate task performance. To do so, an error model is developed that takes into consideration all the kinematic parameter errors due to imprecision manufacturing and assembly. On the basis of the error model and the experimental data for the accuracy of the parallel robot, a least squares algorithm is proposed and tested. Simulations and experiments are presented to show the effectiveness of the proposed method.

关键词： Parallel robot Kinematic calibration Least squares algorithm Error modeling Pose accuracy

作者: DA-YONG YU

作者单位: College of Automation, Harbin Engineering University, Harbin 150001, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 2020-2025

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）