オルソグライド型機構の運動学的キャリブレーション
Kinematic calibration of orthoglide-type mechanisms
オルソグライド型パラレルメカニズムに対し、脚の平行性を利用した低コストなキャリブレーション手法を提案し、関節オフセットを推定して精度を実験的に検証した論文。
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 mo-tions 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 meas-urement methods and the calibration accuracy are also studied. Experimental re-sults are presented that demonstrate validity of the proposed calibration technique
