Dayong Yu
Intelligent Automation & Soft Computing, Vol.24, No.3, pp. 571-580, 2018, DOI:10.31209/2018.100000024
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… More >
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