CALIBRATION EXPERIMENT AND ANALYSIS FOR A 6-DOF CONTROLLER WITH PARALLEL STRUCTURE

Abstract

Abstract: The problem of the calibration of a novel 6 degrees of freedom force-sensing controller with parallel structure has been addressed. The controller constitution, working technique and calibration system are described. The calibration process is presented and the experiment is accomplished. The relationships between the applied force and the output voltage of the force-sensing controller are analyzed and the sensitivity evaluation criteria of the controller are proposed. Finally, the sensitivity analysis for the controller is given based on the calibration matrix. The results obtained are significant and useful for the development and industrialization of the 6 degrees of freedom force-sensing controller.

Key words: 6 degrees of freedom controller, Calibration, Parallel architecture

CLC Number:

TP242 TM930

Jin Zhenlin;Gao Feng;Zhao Xianchao. CALIBRATION EXPERIMENT AND ANALYSIS FOR A 6-DOF CONTROLLER WITH PARALLEL STRUCTURE[J]. , 2005, 41(8): 103-107.

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CALIBRATION EXPERIMENT AND ANALYSIS FOR A 6-DOF CONTROLLER WITH PARALLEL STRUCTURE

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