On the accuracy of a Stewart platform.Part II. Kinematic calibration and compensation教程.pdfVIP

ON THE ACCURACY OF A STEWART PLATFORM - PART I1 KINEMATIC CALIBRATION AND COMPENSATION Oren Masory, Jian Wang and Hanqi Zhuang Robotics Center, Florida Atlantic University Boca Raton, FL 3343 1 Abstract to manufacturing tolerances, used to construct the platform, manifested as deviations between the nominal Manufacturing tolerances, installation errors and kinematic parameters of the platform model and the link oflsets contaminate the nominal values of the actual parameters. Since the platforms controller kinematicparameters used in the kinematic model of the determines the length of the actuators according to the platform. Since the platform controller determines the nominal model, the resulted pose of the platform is length of the actuators according to the nominal model, inaccurate. One way to enhance platform accuracy is by the resulting pose of the platform is inaccurate. To kinematic calibration, a process by which the actual enhance the positioning accuracy of the plarfrm, there kinematic parameters are identified and then used to is a need to determine the actual values of these modify the kinematic model used by the controller. parameters and how to incorporate them into the inverse Thus, the controller will use a more accurate model and kineniatic procedure performed by the controller. This as a result the accuracy of the platform