Abstract
This paper proposes a kinematic calibration method with simplified measurement for parallel mechanism. Since it is difficult to measure full 6 degrees of freedom of the end-effector accurately, especially orientation, the calibration method which uses as little orientation measurement as possible is discussed with simulations and experiments for a rotary type parallel mechanism. The results show the calibration performance can be improved by increasing the position measurement when orientation measurements are reduced.
Original language | English |
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Pages (from-to) | 206-213 |
Number of pages | 8 |
Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
Volume | 71 |
Issue number | 1 |
DOIs | |
Publication status | Published - Jan 2005 |
Keywords
- Absolute Accuracy
- Calibration
- Identification
- Mechatronics and Robotics
- Parallel Mechanism
- Positioning