한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제17권11호
  • /
  • Pages.94-100
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  • 2000
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

길이 측정 센서를 이용한 병렬기구의 기하학적 오차 보정

Calibration of Geometric Errors of a Parallel Manipulator Using a Sensor of Length Measurement

  • 최우천 (고려대학교 기계공학과) ;
  • 임현규 (고려대학교 기계공학과 대학원)
  • Choi, Woo-Chun (Dept.of Mechanical Engineering, Korea University) ;
  • Lim, Hyun-Kyu (Graduate Student, Department of Mechanical Engineering, Korea University)
  • 발행 : 2000.11.01
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초록

This paper proposes a method of geometric error calibration for a parallel using only sensor of length measurement without additional sensors. The concept is generalized which creates measurement residuals by exploring conflicting information provided with external length sensing. Although this calibration method requires many configurations, it has an advantage of using relatively simple length measurements. This method is shown to provide good calibration results, especially when there exist smaller measurement noises and more configurations are measured.

키워드

참고문헌

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