パラレルメカニズムのキャリブレーション方法の研究(第1報)

逆運動学による機構パラメータのキャリブレーション

抄録

This paper deals with the kinematic calibration for parallel mechanisms using inverse kinematics. The calibration method newly developed in this paper is based on solving simultaneous equations which consists of inverse kinematic functions. This method reduces the position and orientation errors of parallel mechanisms, which caused by the deviations of kinematic parameters such as a rod length or a slide fixed angle. This study has been achieved for parallel mechanism based milling machine, HexaM, developed by our company. The principle of this method is first described, then the validity of this method is verified by simulations and experiments performed on HexaM.