Study of kinematic calibration method for parallel mechanism (2nd report) - Kinematic calibration using forward kinematics

Hiromichi Ota, Teturo Shibukawa, Taizo Tooyama, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    12 Citations (Scopus)

    Abstract

    This paper describes a newly developed forward kinematic calibration method for parallel mechanisms which identifies the kinematic parameters using the pose data measured by a Double Ball Bar (DBB) system. The parameter identification procedure using forward kinematics does not require full pose data and, therefore, can make the measurement procedure simple. The measurement using the DBB system allows for large traveling plate orientations and enables simple and precise calibration. The principle of this method is first described, then the validity of this method is presented through simulations and experiments performed on a parallel mechanism based milling machine, named HexaM.

    Original languageEnglish
    Pages (from-to)1568-1572
    Number of pages5
    JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
    Volume66
    Issue number10
    DOIs
    Publication statusPublished - 2000 Oct

    Keywords

    • Calibration
    • Direct kinematics
    • Double Ball Bar system
    • HexaM
    • Kinematic parameter
    • Parallel mechanism

    ASJC Scopus subject areas

    • Mechanical Engineering

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