摘要
以可实现 2平动自由度运动的并联机械手———Diamond机械手为研究对象 ,提出一种具有分层递阶格式的误差辨识和补偿方法 ,该方法以动平台参考点初始位置为标定坐标系原点 ,首先辨识并补偿主动臂回零转角误差 ,而后再辨识并补偿其它几何参数误差。
Taking the parallel manipulator-Diamond that could realize a 2-DOF-translation movement as the object of study, a kind of error recognition and compensation method that possesses stratification and successive ordered format was put forward. This method takes the initial position of the moving platform's reference point as the origin of calibrated coordinate system, the errors of rotation angle of zero return for the driving arm was firstly recognized and compensated and then the other geometric parameter errors were identified and compensated. The result of test verified the effectiveness of this method.
出处
《机械设计》
CSCD
北大核心
2005年第1期18-20,共3页
Journal of Machine Design
基金
8 63高技术研究发展计划资助项目 (2 0 0 1AA42 1 2 2 0 )
关键词
并联机械手
误差模型
运动学标定
parallel manipulator
error model
kinematics calibration
