Position and Orientation Measurement of 6-THHT Parallel Robot

摘要

In order to provide the real time position and orientation of the terminal manipulator on the 6-THHT parallel robot,a multi-sensor measurement for central measure-axle is studied,which is used in full working space of parallel manipulator.The measuring model is established with D-H matrix,and the solution arithmetic is given.Based on the six movement-chain parameters obtained from the experiments of measuring machine,the actual position and orientation of terminal manipulator at a certain time is obtained.This technology is used as the feedback segment of control system to determine the parameters of the parallel manipulator,which can also provide reference for the great closed-loop control of the parallel robot.