Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism
文献类型：期刊论文
| 作者 | L.W.Yang; X.Z.Tian; Z.L.Li; F.M.Chai; D.Y.Dong |
| 刊名 | Optik
 |
| 出版日期 | 2019 |
| 卷号 | 182页码:555-564 |
| 关键词 | Parallel mechanism,Inverse kinematics,Error modeling,Calibration,algorithm,Numerical simulation,Optics |
| ISSN号 | 0030-4026 |
| DOI | 10.1016/j.ijleo.2019.01.079 |
| 英文摘要 | This paper explores the numerical simulation of the calibration algorithm for the parallel mechanism with six degrees of freedoms (DOFs), aiming to verify the algorithm's robustness and effectiveness. Specifically, a Matlab-based numerical simulation method was proposed in light of the error modelling theory on inverse kinematics of the parallel mechanism. By this method, the actual poses are calculated through negative and forward kinematics models from the nominal values and errors of the parameters and several groups of nominal poses; then, the measuring uncertainty is introduced to derive the measured poses, and thus the pose errors; after that, the structural parameters are recognized by the least squares (LS) method, yielding the corrected values of the parameters; next, the corrected poses and pose errors were obtained through error compensation. The simulation results show that the positioning precision of the parallel mechanism was significantly improved through multiple iterations, indicating that the calibration algorithm is both robust and effective. The research findings lay a solid basis for subsequent calibration experiments. |
| 语种 | 英语 |
| 源URL | [http://ir.ciomp.ac.cn/handle/181722/62877]  |
| 专题 | 中国科学院长春光学精密机械与物理研究所 |
| 推荐引用方式 GB/T 7714 | L.W.Yang,X.Z.Tian,Z.L.Li,et al. Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism[J]. Optik,2019,182:555-564. |
| APA | L.W.Yang,X.Z.Tian,Z.L.Li,F.M.Chai,&D.Y.Dong.(2019).Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism.Optik,182,555-564. |
| MLA | L.W.Yang,et al."Numerical simulation of calibration algorithm based on inverse kinematics of the parallel mechanism".Optik 182(2019):555-564. |
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