PARALLEL MECHANISM DEVICE, CALIBRATION METHOD AND CALIBRATION PROGRAM FOR PARALLEL MECHANISM DEVICE, AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To accurately identify a mechanism parameter by acquiring data for performing positioning to a known position and prescribing an absolute position of an end effector, and directly using a relational expression describing kinematics without using minute kinematics.;SOLUTION: An acquisition part 114 acquires: all or a part of attitude angle coordinates and position coordinates of the end effector 20 in a preset reference coordinate system 6, on a machine table 3 of a parallel mechanism machine tool 1 to be set as the reference coordinate system 6 of the parallel mechanism machine tool 1; and driving shaft coordinates calculated by use of inverse kinematics from all or the part of the attitude angle coordinates and the position coordinates by using a prescribed measurement method. A calculation part 113 calculates the mechanism parameter by directly using the relational expression describing one-side kinematics of forward kinematics and the inverse kinematics of a parallel mechanism 4.;COPYRIGHT: (C)2007,JPO&INPIT