KINEMATIC PARAMETER IDENTIFICATION OF PARALLEL ROBOTS FOR SEMI-PHYSICAL SIMULATION PLATFORM OF SPACE DOCKING MECHANISM

摘要

Because of errors in the kinematic parameters of parallel robots, it is necessary to identify them to improve the pose accuracy for accurate task performance of semiphysical simulation platform. In this paper, a methodical way of kinematic parameter identification is introduced. It requires measurements of all legs and the pose information provided by a coordinate measuring machine. Nonlinear least squares algorithm is employed to determine the kinematic parameters. The measurement errors in the leg sensors are considered during kinematic modeling and kinematic parameter identification. Simulations and experimental studies on a Stewart parallel robot built in the Institute of Electrohydraulic Servo Simulation & Test System of Harbin Institute of Technology reveal the convenience and effectiveness of the proposed robot parameter identification algorithm and calibration method for parallel robots.http://dx.doi.org/10.5755/j01.mech.17.5.731