Identification of parameters for a Stewart platform-based force/torque sensor
文献类型：会议论文
| 作者 | Wang HG(王洪光) ; Zhao MY(赵明扬); Fang LJ(房立金); Zhang B(张波); Xu ZG(徐志刚)
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| 出版日期 | 2004 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2004) |
| 会议日期 | August 22-26, 2004 |
| 会议地点 | Shenyang, China |
| 关键词 | Stewart platform force/torque sensor calibration |
| 页码 | 46-50 |
| 中文摘要 | In this paper, the mechanical configuration and the principle of the measurement for a Stewart platform-based multi-component force/torque sensor is introduced. A novel calibration method for geometric parameters is presented, which is to connect a fixed base to the top platform using one link in turn and measure the poses of the top platform. According to the poses measured on the coordinate measuring machine (CMM), the geometric parameters of the multi-component force/torque sensor can be calculated separately. The inverse and forward kinematic model have been formulated to optimize the geometric parameters and compute the resulting forces of the multi-component force/torque sensor. Several experiments have been carried out and the results prove that the calibration method is correct and valid. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone |
| 会议录 | IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 0-7803-8641-8 |
| WOS记录号 | WOS:000234343000008 |
| 源URL | [http://ir.sia.cn/handle/173321/8733]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang HG,Zhao MY,Fang LJ,et al. Identification of parameters for a Stewart platform-based force/torque sensor[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2004). Shenyang, China. August 22-26, 2004. |
入库方式： OAI收割
来源：沈阳自动化研究所
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