混联式三自由度手控器的位置标定方法

Position Calibration of a Hybrid 3-DOF Hand-controller

在使用一种混联式三自由度手控器的过程中发现其位置跟踪存在一定的误差,这种误差主要来自于一些重要部件的加工和装配误差。对此提出了一种针对这种结构的手控器位置跟踪精度的标定方法,通过分别对手控器三个自由度进行重新测量标定,计算出导致误差的零件的实际尺寸,修改手控器末端位置坐标的计算公式中的参数,提高了这种混联式结构手控器的末端位置跟踪精度。

When using a hybrid structured 3-DOF hand controller,there always exist some errors mainly resulted from the machining and assembly errors. A calibration method was proposed in this paper to improve the position tracking accuracy of this type of hand-controller. Through re-measurement and re-calibration,the actual sizes of those key parts of the hand-controller that brought the errors were found out. Then modifying the formula's parameters with the real size calculated in the calibrating process will improve the hand-controller's end position tracking accuracy.