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

Hiromichi Ota; Teturo Shibukawa; Taizo Tooyama; Masaru Uchiyama

doi:10.2493/jjspe.66.1568

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 journal › Article › peer-review

13 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 language	English
Pages (from-to)	1568-1572
Number of pages	5
Journal	Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume	66
Issue number	10
DOIs	https://doi.org/10.2493/jjspe.66.1568
Publication status	Published - 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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10.2493/jjspe.66.1568

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Study of kinematic calibration method for parallel mechanism (2nd report) - Kinematic calibration using forward kinematics. / Ota, Hiromichi; Shibukawa, Teturo; Tooyama, Taizo; Uchiyama, Masaru.

In: Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, Vol. 66, No. 10, 10.2000, p. 1568-1572.

Research output: Contribution to journal › Article › peer-review

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

Abstract

Keywords

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