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- Title
Complete parameter identification of parallel manipulators with partial pose information using a new measurement device.
- Authors
Rauf, Abdul; Sung-Gaun Kim; Ryu, Jeha
- Abstract
A new measurement device is proposed for the calibration of parallel manipulators that can be used to indentify all kinematic parameters with partial pose measurements. The device while restricting the motion of the end-effector to five degree-of-freedom measures three components of posture. A study is performed for a six degree-of-freedom fully parallel Hexa Slide Manipulator. Intrinsic inaccuracies of the measurement device are modeled with two additional identification parameters. Computer simulations show that all parameters, including the additional parameters, can be identified. Results show a significant error reduction, even with noisy measurements, and reveal that the identification is robust against errors in initial guess.
- Subjects
MEASURING instruments; CALIBRATION; MANIPULATORS (Machinery); COMPUTER simulation; ERRORS
- Publication
Robotica, 2004, Vol 22, Issue 6, p689
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/s0263574704000359