@Article{2018.100000024,
AUTHOR = {Dayong Yu},
TITLE = {Kinematic Calibration of a Parallel Manipulator for a Semi-physical  Simulation System},
JOURNAL = {Intelligent Automation \& Soft Computing},
VOLUME = {24},
YEAR = {2018},
NUMBER = {3},
PAGES = {571--580},
URL = {http://www.techscience.com/iasc/v24n3/39782},
ISSN = {2326-005X},
ABSTRACT = {In the application of a semi-physical simulation system of a space docking mechanism, 
the simulation precision is determined by pose accuracy of the parallel manipulator. In 
order to improve pose accuracy, an effective kinematic calibration method is presented to 
enable the full set of kinematic parameter errors to be estimated by measuring the 
docking mechanism’s poses. A new calibration model that takes into account geometrical 
parameter errors and coordinates transformation errors is derived by using a differential 
geometry method. Based on the calibration model, an iterative least square algorithm is 
utilized to calculate the above errors. Simulation and experimental results show the 
calibration method can obviously improve pose accuracy.},
DOI = {10.31209/2018.100000024}
}