Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation

International Journal of Advanced Robotic Systems

关键词: Parallel Robot;    Kinematic Calibration;    Parameter estimation;    Optimum Pose;    Accuracy;   

DOI  :  10.5772/45684

学科分类：自动化工程

来源: InTech

【 摘 要 】

A new method for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking mechanism motion simulator. To implement this method, a calibration equation is built by generating the constraint conditions of the end-effector's motion in the workspace using a three-dimensional coordinate measuring machine. According to the established calibration equation and the simulation, the geometrical parameters of the parallel robot are identified. The effectiveness of the calibration method with a coordinate measuring machine is verified through random pose test experiment.

【 授权许可】

CC BY