Optimal Kinematic Calibration of the 6-UPS Parallel Manipulator

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• 作者：Genliang Chen (23)
  Hao Wang (23)
  Zhongqin Lin (23)
  
• 关键词：Optimal kinematic calibration ; Observability index ; Particle Swarm Optimization algorithm ; Hexapod manipulator
• 刊名：Lecture Notes in Computer Science
• 出版年：2013
• 出版时间：2013
• 年：2013
• 卷：8102
• 期：1
• 页码：396-404
• 全文大小：2450KB
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• 作者单位：Genliang Chen (23)
  Hao Wang (23)
  Zhongqin Lin (23)
  
  23. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, 200240, Shanghai, P.R. China
  

文摘

This paper presents the optimal kinematic calibration of the Hexapod (6-UPS) parallel manipulator based on a new observability index. The polytope description, rather than the widely used ellipsoid one, is introduced to depict the inaccuracy of the identified parameters. Then, the infinity-norm of the residual errors is utilized to assess the calibration precision of the kinematic parameters, which should be minimized during the process of measurement configurations selection. In order to find the optimal configurations, the Particle Swarm Optimization (PSO) algorithm is employed in the proposed method and a collision mechanism is added to cope with the joint space boundary constraint of the studied manipulator. In the end, a numerical example is studied to verify the correctness and effectiveness of the proposed approach.