Calibration of A 6-PRRS Parallel Manipulator Using D-H Method Combined with Vector Chain

被引：4
|
作者：
Yang, Yonggang [1 ]
Liu, Yubin [2 ]
Pi, Jun [1 ]
Shi, Yongsheng [1 ]
Li, Wei [1 ]
机构：
[1] Civil Aviat Univ China, Aeronaut Mech Coll, Tianjin, Peoples R China
[2] Harbin Inst Technol, Robot Inst, Harbin, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
Parallel manipulator; error compensation; vector chain; calibration; KINEMATIC CALIBRATION; SELF-CALIBRATION; SENSORS;
D O I：
10.1109/ICMA.2009.5244878
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Calibration of a 6-PRRS parallel manipulator is studied, a compensation method based on kinematic model is proposed. This method using D-H modeling method sets up 6-PRRS parallel manipulator kinematic model, then identifies and compensates the error in model using vector chain. This method can compensate manufacturing error and some assembling error. The results of experiments show the error can reduce to less than 15 percent of the original by this method.
引用
收藏
页码：3944 / +
页数：3
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