Abstract
This paper focus on the calibration for 6-UPS Stewart platform. By the kinematic analysis, it is found that the error of final position and posture is mainly influenced by radius and 6 angles of joint of movable platform. Therefore, this paper proposes a calibration method which compensates the radius and 6 angles. According to the error analysis, a method of compensating the parameters is proposed, which applied interior-point algorithm. A simulation is set to verify this method. It indicates that the method could compensate simulated error and apparently reduce the error of 6 axis lengths.
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References
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Acknowledgments
This study was supported by ‘Study on Key technologies of Prarallel Robot for Minimally Invasive Spine Surgery’, Scientific Research Project of Shanghai Municipal Science and Technology Commission, (Projection No. 16090503700).
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Jing, X., Fang, Y., Wang, Z. (2020). A Calibration Method for 6-UPS Stewart Platform. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 593. Springer, Singapore. https://doi.org/10.1007/978-981-32-9686-2_58
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DOI: https://doi.org/10.1007/978-981-32-9686-2_58
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