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Abstract: The identifiability of geometric parameters of 6-DOF
parallel kinematic machines is studied using a subset of pose error
data. The vigorous mathematic proof is given to justify the deficiency
of the identification matrix when the “flatness” error data referenced
to a single plane is only measured. The conclusions lead to a new
approach for the identification of the entire set of geometric
parameters using a minimum set of pose error measurements. This set
includes the “flatness” error of a fictitious plane generated by the
endpoint sensor, the orientation error of the end-effector at the
initial configuration, and the straightness and squareness errors along
two orthogonal axes normal to the plane. This approach is so general and
efficient that it can also be used for geometric parameter
identification of the PKM systems with fewer than 6 degrees of freedom.
Key words: Parallel kinematic machines Kinematic calibration Error
compensation
CLC No: TH113
国家自然科学基金(50075059)、国家“863”计划(2001AA421220)、英国皇家学会中－英国际合作研究基金(Q82)和天津市自然科学基金(003802111)资助项目.
Received 20020830, received in revised form 20021130
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