@inproceedings{64af91f613d54b24955dfd999d70facd,
title = "Self-calibration of a 6-DOF redundantly actuated parallel mechanism",
abstract = "In order to improve the accuracy performance of a six degree-of-freedom (DOF) redundantly actuated parallel mechanism (RAPM), a self-calibration method based on sensor redundancy is presented. The kinematic model of the RAPM is built and its 44 identifiable parameters are determined by QR decomposition of the identification matrix. Consequently, the self-calibration algorithm is formulated and the least-squares method is used to correct kinematic parameters. A guideline for selection of measurement configurations is presented. Numerical simulations are performed to confirm the validity of the proposed calibration algorithm. Simulation results show that the average parameter error of 2.23 mm is reduced to 0.12 mm, and the position and orientation accuracy of the platform can reach 0.05 mm and 0.16 mrad after calibration.",
keywords = "identification, parallel mechanism, redundantly actuated, self-calibration",
author = "Changhong Gao and Dacheng Cong and Junwei Han and Zhidong Yang and Xiao Wang",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 ; Conference date: 07-08-2016 Through 10-08-2016",
year = "2016",
month = sep,
day = "1",
doi = "10.1109/ICMA.2016.7558547",
language = "英语",
series = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "128--132",
booktitle = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",
}