On the accuracy of a Stewart platform. II. Kinematic calibration and compensation

Author

Masory, Oren ; Wang, Jian ; Zhuang, Hanqi

Author_Institution

Robotics Center, Florida Atlantic Univ., Boca Raton, FL, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

725

Abstract

An effective algorithm for the identification of the kinematic parameters of a Stewart platform is presented and verified through simulations. The algorithm can be applied to both the reduced and the full models, which differ by the number of parameters to be identified. Compensation procedures for models are also presented. The algorithm was tested using simulated measurements that included realistic measurement noise, and the results showed that the platform pose error was reduced by at least one order of magnitude. The identification algorithm is computationally expensive and has to be performed on a powerful computer for practical implementation

Keywords

calibration; error compensation; kinematics; manipulators; matrix algebra; parameter estimation; 6-DOF parallel manipulator; Jacobian formulation; Stewart platform; accuracy; compensation procedures; effective algorithm; error-model based approach; identification; kinematic calibration; kinematic parameters; platform pose error; realistic measurement noise; simulations; Actuators; Aircraft; Calibration; Degradation; Kinematics; Manipulator dynamics; Parallel robots; Pollution measurement; Time measurement; Virtual manufacturing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292064

Filename

292064