Kinematic calibration of precise 6-DOF Stewart platform-type positioning systems for radio telescope applications
作者机构：División de Estudios de PosgradoFacultad de IngenieríaUniversidad Autónoma de Quéretaro QuéretaroQro.Mexico National Polytechnic InstituteIPNSection of Graduate Studies and ResearchESIME-UPTMéxico D.F.Mexico Laboratory of Robotics and Mechatronics University of CassinoItaly Universidad Autónoma de Quéretaro QuerétaroQro.México CIATEQA.C.AguascalientesAgs.México
出 版 物：《Frontiers of Mechanical Engineering》 (高等学校学术文摘·机械工程前沿(英文))
年 卷 期：2013年第8卷第3期
页 面：252-260页
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0801[工学-力学（可授工学、理学学位）]
主 题：pose errors error estimation parallel robot radio telescopes
摘 要：The pose accuracy of a parallel robot is a function of the mobile platform ***,there is no a single value of the robot’s *** this paper,two novel methods for estimating the accuracy of parallel robots are *** the frst method,the pose accuracy estimation is calculated by considering the propagation of each error,i.e.,error variations are considered as a function of the actuator’s *** the second method,it is considered that each actuator has a constant error at any *** methods can predict pose accuracy of precise robots at design stages,and/or can reduce calibration time of existing *** example of a six degree-of-freedom parallel manipulator is included to show the application of the proposed methods.
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