S1102-1-3 6自由度パラレルメカニズムの校正に関する研究(第8報) : 多項式近似を用いたキャリブレーション([S1102-1]パラレルメカニズムとその応用)

抄録

This study proposes a kinematic calibration method for a six-degree-of-freedom parallel kinematic machine (PKM), which is based on the polynomial approximation. Several kinematic parameters have a difficulty to be accurately identified because such parameters have a little effect on the motion errors of the end effector. In this report, polynomial equations approximating positioning error of each active prismatic joint substitute for the kinematic parameters. In the simulation, motion errors of the end effector were derived from the kinematic parameters' errors. After that, the least square method using Jacobian matrix corrected coefficients of the polynomial equations so that the motion errors were minimized. Obtained coefficients decreased the motion errors from 2mm to 0.05mm.