Optimal Calibration of Parallel Kinematic Machines
Optimal Calibration of Parallel Kinematic Machines
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DOI：
10.1115/1.1828461
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发表时间：
2005
影响因子：
3.3
通讯作者：
M. Verner;F. Xi;C. Mechefske
中科院分区：
文献类型：
--
作者：
M. Verner;F. Xi;C. Mechefske
提出了一种并联机床优化标定的新方法。该方法的基础是利用工作空间中误差敏感度最小的区域来实现最佳标定。为此，开发了一个误差模型，该模型考虑了由于制造和装配中的不精确性而导致的所有几何误差。基于该误差模型，证明了并联机床几何误差到位姿误差的误差映射依赖于雅可比逆。如果使用不当，雅可比矩阵的逆矩阵将引入影响校准结果的虚假误差。因此，工作空间中具有较小条件数的区域被选择用于校准。仿真和实验结果表明了该方法的有效性。校准软件的基础上提出的方法已嵌入在三脚架开发的加拿大的综合制造技术研究所的国家研究理事会。
In this paper, a new method for optimal calibration of parallel kinematic machines (PKMs) is presented. The basis of the methodology is to exploit the least error sensitive regions in the workspace to yield optimal calibration. To do so, an error model is developed that takes into consideration all the geometric errors due to imprecision in manufacturing and assembly. Based on this error model, it is shown that the error mapping from the geometric errors to the pose error of the PKM depends on the Jacobian inverse. The Jacobian inverse would introduce spurious errors that would affect the calibration results, if used without proper care. Hence, areas in the workspace with smaller condition numbers are selected for calibration. Simulations and experiments are presented to show the effectiveness of the proposed method. Calibration software based on the proposed method has been embedded in the tripod developed at the National Research Council of Canada's Integrated Manufacturing Technologies Institute.