• CN:11-2187/TH
  • ISSN:0577-6686

›› 2000, Vol. 36 ›› Issue (12): 25-28.

• 论文 • 上一篇    下一篇

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并联6自由度平台机构误差识别算法

赵新华;解宁;温殿英   

  1. 天津理工学院机械系
  • 发布日期:2000-12-15

CALIBRATION ALGORITHM FOR THE STEWART PLATFORM TYPE MECHANISM

Zhao Xinhua;Xie Ning;Wen Dianying   

  1. Tianjin Institute of Technology
  • Published:2000-12-15

摘要: 提出了一种并联6自由度平台机构误差识别算法。本算法是通过相互垂直两个矢量的数量积来建立误差模型,避免了传统的并联机器人参数识别方法中,通过位置正解及循环迭代过程求解误差参数而来的一系列问题。

关键词: 并联机构, 矢量, 误差识别

Abstract: A calibration algorithm for the Stewart platform type mechanism is presented. The algorithm is based on the product of two mutual perpendicular vectors. With this formulation, one is able to identify identify kinematic error parameters of the mechanism without the necessity of solving the forward kinematics and iteration calculation problem.

Key words: Calibration, Parallel mechanism, Vector

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