Identifiable Parameters for Parallel Robots Kinematic Calibration
نویسندگان
چکیده
This paper presents a numerical method for the determination of the identifiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for classical and self calibration methods, but this method can be generalized to any kind of parallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical relations between the parameters which are identified and those which are not identifiable can be obtained for each method.
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تاریخ انتشار 2001