공간오차 측정을 통한 6자유도 병렬기구의 보정

Title
공간오차 측정을 통한 6자유도 병렬기구의 보정
Other Titles
Calibration of 6-DoF Parallel Mechanism Through the Measurement of Volumetric Error
Author(s)
고태조오용택[오용택]아궁 삼수딘 사라기[아궁 삼수딘 사라기]김정현[김정현]
Keywords
Parallel Mechanism(병렬기구); Digitizer(디지타이저); Kinematic Calibration(기구학적 보정); Optimization Method(최적화 기법)
Issue Date
201206
Publisher
한국기계가공학회
Citation
한국기계가공학회지, v.11, no.3, pp.48 - 54
Abstract
This paper introduces the kinematic calibration method to improve the positioning accuracy of a parallel mechanism. Since all the actuators in the parallel mechanism are controlled simultaneously toward the target position, the volumetric errors originated from each motion element are too complicated. Therefore, the exact evaluation of the error sources of each motion element and its calibration is very important in terms of volumetric errors. In the calibration processes, the measurement of the errors between commands and trajectories is necessary in advance. To do this, a digitizer was used for the data acquisition in 3 dimensional space rather than arbitrary planar error data. After that, the optimization process that was used for reducing the motion errors were followed. Consequently, Levenberg-Marquart algorithm as well as the error data acquisition method turned out effective for the purpose of the calibration of the parallel mechanism.
URI
http://hdl.handle.net/YU.REPOSITORY/27975
ISSN
1598-6721
Appears in Collections:
공과대학 > 기계공학부 > Articles
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