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| 并联六自由度对接平台运动学标定方法研究 | |
| 引用本文： | 张学功,邹怀武,陈卫东.并联六自由度对接平台运动学标定方法研究[J].宇航学报,2007,28(2):273-277. |
| 作者姓名： | 张学功 邹怀武 陈卫东 |
| 作者单位： | 1. 上海交通大学自动化系,上海,200030;上海宇航系统工程研究所,上海,201108 2. 上海宇航系统工程研究所,上海,201108 3. 上海交通大学自动化系,上海,200030 |
| 摘 要： | 对并联六自由度对接平台的结构参数标走问题进行了研究。通过实测运动平台的位姿变化以及对应六根丝杆的增量，提出了直接确定结构参数的标定方法，与传统标定方法相比，避免了迭代计算与收敛判断。仿真验证表明了所提方法的有效性和实用性。 |
| 关 键 词： | 并联六自由度对接平台 标定方法 仿真验证 |
| 文章编号： | 1000-1328（2007）02-0273-05 |
| 修稿时间： | 2006-05-302006-11-08 |
The Research of Kinematic Calibration Method of Parallel 6-DOF Dock Platform |
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| ZHANG Xue-gong,ZOU Huai-wu,CHENG Wei-dong.The Research of Kinematic Calibration Method of Parallel 6-DOF Dock Platform[J].Journal of Astronautics,2007,28(2):273-277. | |
| Authors: | ZHANG Xue-gong ZOU Huai-wu CHENG Wei-dong |
| Institution: | 1. Department of Automation, Shanghai Jiaotong University, Shanghai 200030, China 2. Aerospace System Engineering Shanghai, Shanghai 201108, China |
| Abstract: | This paper studies the calibration method of structure parameter of Parallel 6-DOF Docking Platform(PSDP).Through measuring motion-platform's location and attitude,and six-guide screw's elongation amount,the calibration method is presented to obtain the structure parameter directly.Compared to traditional method,it avoids iterative calculation and judgment of convergence.Finally,the simulation indicate that the method presented is effective and practicable. |
| Keywords: | Parallel 6 - DOF docking platform Calibration method Simulation idification |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |