Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism

doi:10.1016/j.ijleo.2019.01.079

CIOMP OpenIR

	Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism
	L.W.Yang; X.Z.Tian; Z.L.Li; F.M.Chai; D.Y.Dong
	2019
发表期刊	Optik
ISSN	0030-4026
卷号	182 页码:555-564
摘要	This paper explores the numerical simulation of the calibration algorithm for the parallel mechanism with six degrees of freedoms (DOFs), aiming to verify the algorithm's robustness and effectiveness. Specifically, a Matlab-based numerical simulation method was proposed in light of the error modelling theory on inverse kinematics of the parallel mechanism. By this method, the actual poses are calculated through negative and forward kinematics models from the nominal values and errors of the parameters and several groups of nominal poses; then, the measuring uncertainty is introduced to derive the measured poses, and thus the pose errors; after that, the structural parameters are recognized by the least squares (LS) method, yielding the corrected values of the parameters; next, the corrected poses and pose errors were obtained through error compensation. The simulation results show that the positioning precision of the parallel mechanism was significantly improved through multiple iterations, indicating that the calibration algorithm is both robust and effective. The research findings lay a solid basis for subsequent calibration experiments.
关键词	Parallel mechanism,Inverse kinematics,Error modeling,Calibration,algorithm,Numerical simulation,Optics
DOI	10.1016/j.ijleo.2019.01.079
收录类别	SCI ; EI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/62877
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	L.W.Yang,X.Z.Tian,Z.L.Li,et al. Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism[J]. Optik,2019,182:555-564.
APA	L.W.Yang,X.Z.Tian,Z.L.Li,F.M.Chai,&D.Y.Dong.(2019).Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism.Optik,182,555-564.
MLA	L.W.Yang,et al."Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism".Optik 182(2019):555-564.

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