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Calibration of a 4-dof parallel manipulator
Liu HJ(刘红军); Liu B(刘斌); Sun CL(孙翠莲)
作者部门机器人学研究室
会议名称6th World Congress on Intelligent Control and Automation
会议日期June 21-23, 2006
会议地点Dalian, China
会议主办者Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd
会议录名称WCICA 2006: Sixth World Congress on Intelligent Control and Automation, Vols 1-12, Conference Proceedings
出版者IEEE
出版地NEW YORK
2006
页码7958-7962
收录类别EI ; CPCI(ISTP)
EI收录号20071510544041
WOS记录号WOS:000241773209017
产权排序3
ISBN号1-4244-0331-6
关键词Parallel Manipulator Error Model Calibration
摘要Parallel manipulators are preferred to serial manipulators for their high positioning accuracy, high stiffness etc. But the accuracy will be restrict for some factors, especially manufacture and assemble errors. The paper presents the manipulator's kinematics first, and then its error model is discussed by the perturbation method. And after introduce the parallel manipulator's kinematics calibration, two calibration methods are used to compensate the manipulator's geometric error, discuss the device, algorithm and procedure. Finally, the Matlab simulate of a kind of IK calibration is presented, and the simulate results are discussed meanwhile.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19859
专题机器人学研究室
通讯作者Liu HJ(刘红军)
作者单位1.School of Echinery and Automobile, Shenyang Institute of Aeronautical Eng., Liaoning, Shenyang 110032, China
2.Department of Management, Shenyang Institute of Aeronautical Eng., Liaoning, Shenyang 110032, China
3.Robotic Laborary, Shenyang Institute of Automation, Liaoning, Shenyang 110016, China
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Liu HJ,Liu B,Sun CL. Calibration of a 4-dof parallel manipulator[C]//Dalian Univ Technol, Northeastern Univ, Dalian Maritime Univ, Shanghai Baosight Software Co Ltd, IEEE Robot & Automat Soc, Natl Nat Sci Fdn China, Chinese Assoc Automat, IEEE Control Syst Soc, Beijing Chapter, Minist Educ China, Grandar Robot Co Ltd, Yokogawa Elect Corp, KC Wong Educ Fdn, Siemens Ltd. NEW YORK:IEEE,2006:7958-7962.
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