Kinematic calibration of the heavy-payload forging manipulator

摘要：

This paper presents the kinematic calibration of the heavy-payload manipulator, whose hybrid structure can be divided into the serial structure and the parallel structure. With the help of an external measurement device, this paper will employ the external calibration method to calibrate both the serial structure and the parallel structure. The calibration problem is formulated in terms of a measurement residual that is the discrepancy between the measured leg length and the computed leg length. With this formulation, one is able to identify kinematic error parameters of the hybrid structure without the necessity of solving the forward kinematic problem.

关键词： forging manipulator hybrid structure kinematic calibration

作者: CHU Xiaobing GAO Feng GE Hao

作者单位: Shanghai Jiaotong University Shanghai,China

会议类型: 国际会议

会议名称: 第二届机器人与机电一体化国际学术会议

会议地点: 上海

会议语种:英文

页码: 1-7

在线出版日期: 2011-10-14（万方平台首次上网日期，不代表论文的发表时间）