Abstract:
Some approaches to measure parallel 6-degree of freedom
platform’s posture statically and to calibrate the platform’s
actual structural parameters by measuring a series of the
platform’s varying postures are studied. In the case where high
posture accuracy is required relatively，to
obtain the platform’s actual structural parameters is very
important. Three dimensions measurement with 2 theodolites are
used to obtain the platform’s postures statically and Newton
iterative method is adopted to calibrate structural parameters.
Some measures taken in the measurement and the calibration are
discussed in detail. And the experiment results of the
platform’s posture control before and after the calibration are
given. The results show that the platform’s posture control
accuracy after the calibration is improved notably.
Key words:
Parallel 6-DOF platform Theodolite Posture measurement
Nonlinear equation group Structural parameters calibration
* This project is supported by National Defense Science and Technology Multi-vocation Foundation in Advance Research of China (No. 97J465JW0408). Received April 1, 2001; received in revised form September 18, 2001; accepted April 3, 2002
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