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A practical calibration process using partial information for a commercial Stewart platform

Published online by Cambridge University Press:  07 May 2002

Kok-Soon Chai ,
Ken Young  and
Ian Tuersley
Kok-Soon Chai
Affiliation:
Warwick Manufacturing Group, Department of Engineering, University of Warwick, Coventry CV4 7AL (UK)esruz@warwick.ac.uk
Ken Young
Affiliation:
Warwick Manufacturing Group, Department of Engineering, University of Warwick, Coventry CV4 7AL (UK)esruz@warwick.ac.uk
Ian Tuersley
Affiliation:
Warwick Manufacturing Group, Department of Engineering, University of Warwick, Coventry CV4 7AL (UK)esruz@warwick.ac.uk
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Abstract

Most of the calibration methods proposed for the Stewart platform require complex computation or low noise data for the platform's accuracy to be determined. They are not suitable for practical use in a production environment, where the measurement and calibration method should be simple and robust. Using an external laser measuring device to determine the actual accuracy of a Stewart platform, a practical and simple leg length compensating calibration method, that improves the accuracy of the Stewart platform by a magnitude of around 7, is proposed. The procedures and computation algorithms of the calibration method are shown.

Keywords

Stewart platformCalibrationParallel robotNumerical analysis
Type
Research Article
Information
Robotica , Volume 20 , Issue 3 , May 2002 , pp. 315 - 322
Copyright
2002 Cambridge University Press

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