병렬기구형 공작기계의 보정 시스템 개발

Development of Kinematic Calibration System for a Parallel-typed Machining Center Tool

  • 김태성 (창원대학교 제어계측공학과 대학원) ;
  • 박근우 (창원대학교 메카트로닉스공학부) ;
  • 윤태성 (창원대학교 메카트로닉스공학부) ;
  • 이민기 (창원대학교 메카트로닉스공학부)
  • 발행 : 2001.11.01

초록

This research develops a low-cost and high accurate kinematic calibration method for a parallel typed machining center tool. A planar table is used for a mechanical fixture restricting the platform to place at the constrained pose and a low-cost and high accurate digital indicator is employed for a device checking if the constrained movement is satisfied within the established range. The kinematic parameters calibrated with respect to a single plane aren't influenced from the misalignment of the plane. A parameter observability is successfully obtained even through one planar constraint, which guarantees that the kinematic parameters is estimated by minimizing the cost function.

키워드