Auto-calibration of a redundant parallel manipulator based on the projected tracking error
作者： Yaoxin Zhang , Shuang Cong , Zexiang Li , Shilong Jiang
DOI: 10.1007/S00419-007-0127-Z
关键词:
摘要: Utilizing the projected tracking error of redundant joint angles, we studied calibration problem sensor zero positions a planar 2-dof parallel manipulator in this paper. Based on study relationship between angles and positions, new function is proposed for manipulator. It proved that robust to measurement sensors, so accurate results can be obtained by minimizing even if not accurate. With simple searching strategy minimal value function, designed an auto-calibration procedure verified validity through real experiments
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