Complete parameter identification of parallel manipulators with partial pose information using a new measurement device

Abdul Rauf; Sung-Gaun Kim; Jeha Ryu

doi:10.1017/S0263574704000359

Abstract

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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.

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Complete parameter identification of parallel manipulators with partial pose information using a new measurement device

Abstract

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This article has been cited by the following publications. This list is generated based on data provided by Crossref.

Article contents

Complete parameter identification of parallel manipulators with partial pose information using a new measurement device

Abstract

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