Orthoglide型機構の運動学的キャリブレーション
Kinematic Calibration of the Orthoglide-Type Mechanisms
低コストの比較器インジケータを用いて脚の平行性を測定し、関節オフセットを推定する新しいキャリブレーション手法を提案し、実験で有効性を示した。
著者: Anatoly Pashkevich, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be adjusted. The sensitivity of the measurement methods and the calibration accuracy are also studied. Experimental results are presented that demonstrate validity of the proposed calibration technique.
