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METHOD FOR CALIBRATING PARALLEL KINEMATIC MECHANISM, METHOD FOR VERIFYING CALIBRATION, PROGRAM PRODUCT FOR VERIFYING CALIBRATION, METHOD FOR TAKING DATA, AND METHOD FOR TAKING CORRECTION DATA FOR SPATIAL POSTURING CORRECTION
METHOD FOR CALIBRATING PARALLEL KINEMATIC MECHANISM, METHOD FOR VERIFYING CALIBRATION, PROGRAM PRODUCT FOR VERIFYING CALIBRATION, METHOD FOR TAKING DATA, AND METHOD FOR TAKING CORRECTION DATA FOR SPATIAL POSTURING CORRECTION
The present invention is supported on a support base platform; End effector; A plurality of driver shafts for connecting each of the base and the end effector through the plurality of joints are provided on the base and the end effector; And numerical control apparatus for using kinematics and inverse kinematics control each of the posture of the end effector by manipulation of the driver shaft coordinates rate; a calibration method for calibrating a parallel mechanism is a mechanism that is provided: the adjustment tool, the axis is attached to the end effector that matches the axis of the end effector, the preset force of the parallel mechanism can be a variety of specific mechanisms that are provided outside the reference coordinate system defining the reference coordinate system of the parallel mechanism Mechanism setting step of setting chyeoro; -Taking step takes the coordinates of the posture of the adjustment tool when the adjustment tool is to be placed each on hit the force; A storage step of storing the coordinates of each of the driver shaft rate manipulation by the numerical control device in accordance with the inverse kinematics adjustment each time the tool is arranged to be hit the force; And a calculation step of calculating kinematic parameters necessary for the kinematics of the parallel mechanism based on the stored coordinates of the mechanism, taken with the driver shaft coordinates of the posture of the driver shaft, characterized in that it comprises a, the parallel mechanism Mechanism provides a calibration method for calibrating. Thus, the force of the end effector hit accurate it is possible to obtain the relative position of the information and the driver shaft.
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