脚部の平行性観測に基づくOrthoglide型パラレルメカニズムの運動学キャリブレーション
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions
パラレルマニピュレータの脚部が基部に対して平行を保つ動きを観測し、安価な計測系で関節オフセットを同定する新しいキャリブレーション手法を提案・実験検証した論文。
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 new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a simple and low-cost measuring system, which evaluates deviation of the leg location during motions that are assumed to preserve the leg parallelism for the nominal values of the manipulator parameters. Using the measured deviations, the developed algorithm estimates the joint offsets that are treated as the most essential parameters to be identified. The validity of the proposed calibration method and efficiency of the developed numerical algorithms are confirmed by experimental results. The sensitivity of the measurement methods and the calibration accuracy are also studied.
