2A1-I03 最大位置決め誤差推定に基づくスチュワートプラットフォームの最適キャリブレーション(パラレルロボット・メカニズム)

概要

論文の詳細を見る
In order to enable optimization of the kinemetic calibration condition of parallel mechanism considering its task, we proposed an evaluation method of output pose error after calibration and error evaluation index. The index is derived from linearization of relationship between positioning-error and measurement errors. It depends on kinematic parameters of the mechanism, calibration condition and error evaluation conditions specified by the task. Simulations considering measurement error for the Stewart platform were done to clarify the relationship between the proposed index and positioning-error of the mechanism after calibration. Effectiveness of the calibration conditions selected by the proposed index was confirmed through comparison with conventional method. Results of experiments using a Stewart platform were shown to support the proposed method.
一般社団法人日本機械学会の論文
2008-06-06