• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>4th International Conference on Integrated Design and Manufacturing in Mechanical Engineering - IDMME 2002 May 14-16, 2002 Clermont-Ferrand, France >ON THE KINEMATIC CALIBRATION OF A STEWART PLATFORM
【24h】

ON THE KINEMATIC CALIBRATION OF A STEWART PLATFORM

机译：关于Stewart平台的运动校准

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents several results regarding the kinematic calibration of a Stewart platform. Firstly, a general method for the precision modeling of parallel robots is proposed by the authors and applied in the case of the Stewart platform. Thus, an accuracy model of the Stewart platform is established, taking into account the errors of the geometrical parameters. Next, on the basis of the precision model and the experimental data for the accuracy of the Stewart platform, some algorithms used in kinematic calibration were generated and tested; overcoming some numerical difficulties, the actual deviations of the geometrical parameters were identified. Thus, the correct values of geometrical parameters and, implicitly, the correct kinematic model used in command/control were obtained. Finally, the importance of the calibration in the optimization of the kinematic models is emphasized, based on the numerical results. According to these aspects, the accuracy of the Stewart platform model was significantly increased.
机译：本文介绍了有关Stewart平台的运动学校准的一些结果。首先，作者提出了一种通用的并行机器人精度建模方法，并将其应用于Stewart平台。因此，考虑到几何参数的误差，建立了Stewart平台的精度模型。接下来，基于精度模型和Stewart平台精度的实验数据，生成并测试了一些用于运动学标定的算法；克服了一些数值上的困难，确定了几何参数的实际偏差。因此，获得了几何参数的正确值，以及隐含的在命令/控制中使用的正确的运动学模型。最后，基于数值结果，强调了校准在运动学模型优化中的重要性。根据这些方面，斯图尔特平台模型的准确性大大提高了。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号