On the accuracy of a Stewart platform. II. Kinematic calibration and compensation

@article{Masory1993OnTA,
  title={On the accuracy of a Stewart platform. II. Kinematic calibration and compensation},
  author={Oren Masory and J. J. Wang and Hanqi Zhuang},
  journal={[1993] Proceedings IEEE International Conference on Robotics and Automation},
  year={1993},
  pages={725-731 vol.1}
}
An effective algorithm for the identification of the kinematic parameters of a Stewart platform is presented and verified through simulations. The algorithm can be applied to both the reduced and the full models, which differ by the number of parameters to be identified. Compensation procedures for models are also presented. The algorithm was tested using simulated measurements that included realistic measurement noise, and the results showed that the platform pose error was reduced by at least… CONTINUE READING

Figures and Topics from this paper.

Citations

Publications citing this paper.
SHOWING 1-10 OF 42 CITATIONS

Pose error modeling and analysis for 6-DOF stewart platform

  • 2017 Chinese Automation Congress (CAC)
  • 2017
VIEW 1 EXCERPT
CITES METHODS

Experimental kinematic identification of a 3-DOF decoupled parallel robot using calibrated kinect sensor

  • 2016 4th International Conference on Robotics and Mechatronics (ICROM)
  • 2016
VIEW 1 EXCERPT
CITES METHODS

References

Publications referenced by this paper.
SHOWING 1-10 OF 11 REFERENCES

Computer Simulation of a Parallel Link Manipulator

O. Masory, J. Wang
  • J . Robotics & Computer Integrated Manufacturing
  • 1989

Robot geometry calibration

  • Proceedings. 1988 IEEE International Conference on Robotics and Automation
  • 1988

A Stewart Platform-Based Manipulator: General Theory and Practical Consideration,

Fichter, E.F
  • Journal ofRobotic Research,
  • 1986
VIEW 1 EXCERPT

' I A Platform With Six Degree of Freedom

D. Stewart

    An Overview of Robot Calibration

    B. W. Mooring, B. Ravani
    • IEEE J . Robotics and Automation