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Abstract: At the step of measurement for calibration of parallel
robot, the system error will be created for the inconsistent reference
frame between the spatial coordinate measuring device and the parallel
robot. To eliminate the system error, the reference frame of the
parallel robot is transformed to the one of the spatial coordinate
measuring device at the step of modeling for calibration of parallel
robot and a consistent reference frame is obtained. After simulating the
process of calibration with the unimproved model and the improved model
respectively to a 5-DOF parallel robot, the results indicate that the
improved model can eliminate the system error completely while the
unimproved model can not. So the improved model is better at improving
the accuracy of calibration. The method of modeling for calibration of
parallel robot has a highly use value.
Key words: Parallel robot Calibration Modeling System error
CLC No: TP24
国家杰出青年基金(50125516)、振动、冲击、噪声国家重点实验室(VSN-2005-07)及天津市自然科学基金重点(043801811)资助项目.
Received 20041129, received in revised form 20050425
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