Abstract
A DBB(Double-Ball-Bar) based kinematic calibration method that uses Fourier series for in-parallel actuated mechanisms is presented. Indices for evaluating the set of the measurement paths used in the calibration were derived, considering the error propagation characteristics of the error equation to be solved for identifying the kinematic parameters of the mechanism. A comparative study of these indices was presented, as well as experimental calibration results based on this study.
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Shen, G., Takeda, Y., Funabashi, H. (2002). A Kinematic Calibration of in-Parallel Actuated Mechanisms Using Fourier Series (Evaluation Index for Determination of the Set of Measurement Paths). In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_1
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DOI: https://doi.org/10.1007/978-94-017-0657-5_1
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