Observability of Kinematics Parameter Errors for Calibration of Parallel Robots as Stewart Platform

Hexapod Machine Tool (HMT) is a parallel robot based on Stewart platform. Configurations which are selected for calibration of the robot must have maximum observability of the kinematics parameter errors. In this paper identification jacobian of HMT is formulated. Then the Singular Value Decomposition (SVD) is studied and several observability indices are defined. Selection of the best observability index is another outcome of this paper. An optimal set of configurations is selected. Calibration procedure is simulated over the selected configurations. Simulation results confirm the validity of the selected configurations and indicate that the selected configurations and observability index are reliable.

کلیدواژه ها:

Hexapod Machine Tool (HMT) ، parallel robot ، observability index ، kinematics parameter errors ، identification jacobian