Error Modeling and Compensation for Parallel Kinematic Machines
Error Modeling and Compensation for Parallel Kinematic Machines
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DOI：
10.1007/978-1-4471-0885-6_11
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
J. Song;J. Mou;C. King
中科院分区：
文献类型：
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作者：
J. Song;J. Mou;C. King
为了分析和提高并联机构六足机器人的运动性能，建立了正、反向运动学模型。建立了理想结构和实际结构的分析模型。开发了性能评估和增强算法，以确定理想结构和实际结构的支撑长度。根据这两种情况确定的支撑长度可以用来分析结构缺陷对机器性能的影响。实验和仿真结果表明，通过误差建模和补偿可以提高并联机床的性能。
In this paper, inverse and forward kinematic models were derived to analyze and enhance the performance of a hexapod machine with parallel kinematic structure. Analytical models were constructed for both ideal and real structures. Performance assessment and enhancement algorithms were developed to determine the strut lengths for both ideal and real structures. The strut lengths determined from both cases can be used to analyze the effect of structural imperfections on machine performance. Experiment and simulation results show that the performance of a parallel kinematic machine can be enhanced through error modeling and compensation.