Kinematic modeling and calibration of a Stewart platform

摘要

Manufacturing tolerances, installation errors and link offsets contaminate kinematic parameters of a nominal platform kinematic model. Since the platform controller determines the length of the leg actuators according to the nominal model, the resulting pose of the platform is inaccurate. To enhance the positioning accuracy of the platform, there is a need to estimate the actual values of these parameters and to incorporate these estimates into the inverse kinematic procedure performed by the machine controller.