Geometrical Parameter Identification for 6-DOF Parallel Platform

被引：1
|
作者：
Lin, Jian-feng [1 ]
Qi, Chen-kun [1 ]
Hu, Yan [1 ]
Zhou, Song-lin [1 ]
Liu, Xin [1 ]
Gao, Feng [1 ]
机构：
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Sch Mech Engn, Shanghai 200240, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT II | 2022年 / 13456卷
关键词：
Parallel platform; Kinematics; Parameter identification; Iterative least squares; KINEMATIC CALIBRATION; MANIPULATOR;
D O I：
10.1007/978-3-031-13822-5_7
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The positioning accuracy of the 6-degree-of-freedom (DOF) parallel platform is affected by the model accuracy. In this paper, the parameter identification of the 6-DOF parallel platform is carried out to obtain the accurate kinematic model. The theoretical inverse kinematic model is established by closed-loop vector method. The rotation centers of each spherical joint and hooker joint are selected as geometric parameters to be identified. The inverse kinematic model with geometric error is established. The geometric parameters are identified by iterative least square method. Simulation results show that the parameter identification method is correct.
引用
收藏
页码：70 / 76
页数：7
相关论文
共 50 条
  • [1] Geometrical approach for the workspace of 6-DOF parallel manipulators
    Kim, DI
    Chung, WK
    Youm, Y
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 2986 - 2991
  • [2] A general and novel approach for parameter identification of 6-DOF parallel kinematic machines
    Huang, TA
    Chetwynd, DG
    Whitehouse, DJ
    Wang, JS
    [J]. MECHANISM AND MACHINE THEORY, 2005, 40 (02) : 219 - 239
  • [3] Study about the 6-DOF parallel tracking platform
    Tan Sen
    Ren Ge
    Tan Yi
    [J]. XX INTERNATIONAL SYMPOSIUM ON HIGH-POWER LASER SYSTEMS AND APPLICATIONS 2014, 2015, 9255
  • [4] Study on Identification Method of Geometric Parameter Errors of 6-DOF Parallel Machine Tool
    Shan Peng
    Xie Liyang
    Shi Jialiang
    Sun Mingfei
    [J]. MATERIALS AND MANUFACTURING, PTS 1 AND 2, 2011, 299-300 : 1171 - +
  • [5] Design of a New 6-DOF Parallel Mechanism with a Suspended Platform
    Lim, Hoon
    Lee, Sang-Heon
    So, Byung-Rok
    Yi, Byung-Ju
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2015, 13 (04) : 942 - 950
  • [6] Design of a new 6-DOF parallel mechanism with a suspended platform
    Hoon Lim
    Sang-Heon Lee
    Byung-Rok So
    Byung-Ju Yi
    [J]. International Journal of Control, Automation and Systems, 2015, 13 : 942 - 950
  • [7] Force/Position Cooperative Control for 6-DOF Parallel Platform
    Li, Haihai
    Hao, Kuangrong
    Ding, Yongsheng
    [J]. ADVANCED MECHANICAL DESIGN, PTS 1-3, 2012, 479-481 : 1790 - 1794
  • [8] Structural Optimization and Analysis of Pneumatic 6-DOF Parallel Platform
    Jun, Li
    Kai, Shi
    Wei, Wang
    Zhou JianChao
    [J]. PROCEEDINGS OF 2015 INTERNATIONAL CONFERENCE ON FLUID POWER AND MECHATRONICS - FPM 2015, 2015, : 402 - 408
  • [9] Fuzzy Immune PID Control for 6-DOF Parallel Platform
    Zhu, Dequan
    Xie, Wenhua
    Sun, Lei
    [J]. MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION IV, PTS 1 AND 2, 2012, 128-129 : 890 - 893
  • [10] Experimental identification of the dynamics model for 6-DOF parallel manipulators
    Abdellatif, Houssem
    Heimann, Bodo
    [J]. ROBOTICA, 2010, 28 : 359 - 368
12345