병렬기구형 공작기계의 기구학적 보정에 관한 연구

This research develops a low-cost and high accuracy kinematic calibration method based on the following principles: I) the platform locations are accurately measured by a constrained movement to inspect a calibration target; 2) the constrained movement is chosen to guarantee the parameter observability; 3) the mechanical fixture to constrain the movement and the sensor to check the constrained movement are implemented by low-cost and high-accuracy devices; 4) the calibration is easily done at an industrial environment. The kinematic parameters calibrated with respect to a single plane aren't influenced due to the misalignment of the plane. A parameter observability is successfully obtained even through one planar constraint. which guarantees that all kinematic parameters are estimated by minimizing the cost function.