1A2-G21 マルチ駆動リニアモータを用いたパラレルリンク機構に関する研究 : 第4報:機構パラメータのセルフキャリブレーション

概要

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In this paper, the kinematic calibration of planar three-degree-of-freedom redundantly actuated parallel kinematic mechanism is studied. The parallel mechanisms are constructed on four multi drive linear motors system. The multi drive is a control method of linear motors that multi moving parts are individually driven on a stator part. The kinematic model is fully described by using 11 parameters. With the parameters, a cost function of the mechanism based closed-loop constraint equations is formulated. The kinematic parameters are estimated by iterative nonlinear least square method. The proposed method dose not uses any external sensors but only uses the internal sensors. Numerical simulation shows that all the kinematic parameters are accurately calibrated. Experimental result shows that the parameters are stably converged with few iteration counts.
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