|
Abstract: During
the external kinematic calibration of parallel kinematic machine (PKM)
tools, in order to eliminate a few larger residual errors which possibly
lie in the parameter identification based on the least square method,
the min-max optimization method is presented. From the engineering sense
of the residual errors of parameter identification, precision evaluation
is oriented and min-max method directly controls the scope of residual
errors. The experiment proves that the limitation of the least square
method exists and the min-max method is effective to eliminate the
limitation. The min-max method of parameter identification directly
connects precision evaluation with kinematic calibration and can improve
the total precision of PKM tools simply and cheaply.
Key
words: Parameter
identification Calibration PKM tools Least square method
Min-max optimization
CLC No: TG659
国家973重点基础研究基金(G1998030607)和国家自然科学基金(50305016)资助项目.
Received 20040926, received in revised form 20041210
|