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Kinematic Calibration of a Parallel Manipulator for a Semi-physical Simulation System

机译:半物理仿真系统并联机械手的运动学标定

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摘要

In the application of a semi-physical simulation system of a space docking mechanism, the simulation precision is determined by pose accuracy of the parallel manipulator. In order to improve pose accuracy, an effective kinematic calibration method is presented to enable the full set of kinematic parameter errors to be estimated by measuring the docking mechanism's poses. A new calibration model that takes into account geometrical parameter errors and coordinates transformation errors is derived by using a differential geometry method. Based on the calibration model, an iterative least square algorithm is utilized to calculate the above errors. Simulation and experimental results show the calibration method can obviously improve pose accuracy.
机译:在空间对接机构的半物理仿真系统中,仿真精度由并联机械手的位姿精度决定。为了提高姿态精度,提出了一种有效的运动学标定方法,可以通过测量对接机构的姿态来估算整个运动学参数误差。通过使用微分几何方法得出了一个考虑几何参数误差和坐标转换误差的新校准模型。基于校准模型,使用迭代最小二乘算法计算上述误差。仿真和实验结果表明,该标定方法可以明显提高姿态精度。

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