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Kinematic Calibration of Parallel Manipulator for Semi-physical Simulation System


In the application of semi-physical simulation system of 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 coordinate transformation errors is derived by using 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.



Total Pages: 10
Pages: 571-580


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Volume: 24
Issue: 3
Year: 2018

Cite this document


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ISSN PRINT: 1079-8587
ISSN ONLINE: 2326-005X
DOI PREFIX: 10.31209
10.1080/10798587 with T&F
IMPACT FACTOR: 0.652 (2017/2018)
Journal: 1995-Present

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