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并联机器人运动学标定方法综述

Review on Kinematic Calibration Method of Parallel Manipulator
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摘要 运动精度限制了并联机器人的应用,而运动学标定是提高并联机器人运动精度的有效手段。并联机器人的运动学标定方法有三种:传统标定方法、自标定方法和第三类标定方法。这三种标定方法各有特色,在应用这些方法对并联机器人进行运动学标定时需要充分考虑具体机构的特点。 The application of parallel manipulator was restricted by its motion precision. However, kinematic calibration is an effective strategy to improve the motion precision. There are three kinds of kinematic calibration methods with their own characteristics： Classic calibration method, Self-calibration method and the 3rd group calibration method. To calibrate a parallel manipulator, characteristics of mechanism must be considered deeply.
作者 赵晓东
机构地区 邢台职业技术学院
出处 《邢台职业技术学院学报》 2010年第1期31-32,共2页 Journal of Xingtai Polytechnic College
关键词 并联机器人 运动学标定 精度 parallel manipulator kinematic calibration precision
分类号 TP242.3 [自动化与计算机技术—检测技术与自动化装置]
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参考文献8

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二级参考文献19

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邢台职业技术学院学报
2010年 第1期

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