Kalman filtering based online calibrating method of Stewart mechanism

A Kalman Filter, Algorithm Technology

CN105425582AActive Publication Date: 2016-03-23苏州铸正机器人有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2016-03-23

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Abstract

The invention relates to a Kalman filtering based online calibrating method of a Stewart mechanism. The calibrating method comprises the steps that 1) a pose measuring device is fixed at one side of the Stewart mechanism, and the working space of the pose measuring device covers the motion range of the Stewart mechanism; 2) the pose of the Stewart mechanism is adjusted so that a moving platform of the Stewart mechanism moves in different directions, the pose measuring device measures the pose of the moving platform of the Stewart mechanism, and measured pose data is compared with theoretical pose data to obtain pose error data; 3) the theoretical pose data and the pose error data are substituted into the Kalman filtering algorithm, and error source data is obtained via iteration; 4) the error source data is substituted into the kinematic positive solution of the Stewart mechanism to correct the kinematic positive solution; and 5) the steps 2) to 4) are implemented cycled till the pose error data is converged. According to the invention, operation is simple, the cost is low, and the calibration efficiency is high.
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Description

technical field

[0001] The invention relates to the technical field of parallel mechanisms, in particular to an online calibration method for Stewart mechanisms based on Kalman filtering. Background technique

[0002] The Stewart mechanism has a series of advantages such as high precision, rigidity and load capacity, and has been widely used in the industrial field. Accuracy is an important indicator to measure the performance of Stewart mechanism. Using advanced mechanism design, processing and manufacturing methods to avoid mechanism errors can improve the accuracy of Stewart mechanism, but the implementation cost is high and cannot meet the needs of industry. As a posteriori error compensation method, kinematic calibration is an effective method to improve the accuracy.

[0003] The steps of mechanism calibration are as follows: first, establish a mathematical model of the mechanism to describe the functional relationship between the branch error and the end error of th...

Examples

Embodiment Construction

[0053] Embodiments of the present invention will be described below with reference to the drawings. Elements and features described in one drawing or one embodiment of the present invention may be combined with elements and features shown in one or more other drawings or embodiments. It should be noted that representation and description of components and processes that are not related to the present invention and known to those of ordinary skill in the art are omitted from the drawings and descriptions for the purpose of clarity.

[0054] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings. See figure 1 — figure 2 ,

[0055] A kind of Stewart mechanism online calibration algorithm based on Kalman filter provided by the present invention, specifically comprises the following steps:

[0056] Step 1: Fix the pose measurement device on one side of the Stewart mechanism, and its working space covers the...