基于Jacobian矩阵的6-6 Stewart平台结构校准

A 6-6 Stewart Platform Kinematic Calibration Algorithm in Terms of Jacobian Matrix

针对简化误差源模型 (含 42个误差量 ) ,建立了基于 Jacobian矩阵的 6 -6 Stewart平台误差模型 ,并依据该模型 ,提出了一种 6 -6 Stewart平台外部校准算法 ,仿真研究表明 ,该算法具有理论上的正确性和工程上的可行性。同时指出了该算法的关键是以系数矩阵

An external kinematic calibration method in terms of Jacobian matrix is addressed in this paper. The calibration method will be employed to identify 42 element error vectors called nominal error model. Both theoretical and pragmatical model are simulated then. The simulation results demonstrate that the key of the calibration algorithm is the optimization of poses to be measured. The goal of optimization is the local minimum of condition number of a coefficient matrix.