CALIBRATION DEVICE OF PARALLEL LINK MECHANISM AND CALIBRATION METHOD

摘要

PROBLEM TO BE SOLVED: To provide a device and a method capable of automatically or manually simply and exactly performing calibration of parallel link mechanisms while using an increment type encoder with high resolution in a simulator utilizing virtual reality.SOLUTION: When a motor 42 is rotated, predetermined portions of parallel link mechanisms 22a, 22b contact a sensor 60, and the motor 42 is no longer rotated as a command value. Then, when the sensor 60 detects this state, a calibration control algorithm 70 determines that a corresponding motor returns to an initial angle position, and transmits a reset command to an angle conversion part 62. The angle conversion part 62 which receives the reset instruction sets an angle position of a motor at that time as an initial value, and calibration is terminated.SELECTED DRAWING: Figure 3