LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism

Photo from wikipedia

Abstract This paper explores the numerical simulation of the calibration algorithm for the parallel mechanism with six degrees of freedoms (DOFs), aiming to verify the algorithm’s robustness and effectiveness. Specifically,… Click to show full abstract

Abstract This paper explores the numerical simulation of the calibration algorithm for the parallel mechanism with six degrees of freedoms (DOFs), aiming to verify the algorithm’s robustness and effectiveness. Specifically, a Matlab-based numerical simulation method was proposed in light of the error modelling theory on inverse kinematics of the parallel mechanism. By this method, the actual poses are calculated through negative and forward kinematics models from the nominal values and errors of the parameters and several groups of nominal poses; then, the measuring uncertainty is introduced to derive the measured poses, and thus the pose errors; after that, the structural parameters are recognized by the least squares (LS) method, yielding the corrected values of the parameters; next, the corrected poses and pose errors were obtained through error compensation. The simulation results show that the positioning precision of the parallel mechanism was significantly improved through multiple iterations, indicating that the calibration algorithm is both robust and effective. The research findings lay a solid basis for subsequent calibration experiments.

Keywords: numerical simulation; calibration; parallel mechanism; kinematics

Journal Title: Optik
Year Published: 2019

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.