脚部観測を用いた3自由度並進パラレルマニピュレータのキャリブレーション
Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations
Orthoglide系の準等方性パラレル機構に対し、脚部の平行度を比較器で観測して関節オフセットと脚長を推定する低コストな幾何モデルキャリブレーション手法を提案し、実験で有効性を確認した。
著者: Anatoly Pashkevich, Damien Chablat, Philippe Wenger, Roman Gomolitsky
分類: cs.RO
原文アブストラクト
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and 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 and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.
