CHENG, Gang ;GU, Wei ;YU, Jing-li ;TANG, Ping . Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method. Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 57, n.10, p. 719-729, june 2018. ISSN 0039-2480. Available at: <https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/>. Date accessed: 20 dec. 2024. doi:http://dx.doi.org/10.5545/sv-jme.2010.167.
Cheng, G., Gu, W., Yu, J., & Tang, P. (2011). Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method. Strojniški vestnik - Journal of Mechanical Engineering, 57(10), 719-729. doi:http://dx.doi.org/10.5545/sv-jme.2010.167
@article{sv-jmesv-jme.2010.167,
author = {Gang Cheng and Wei Gu and Jing-li Yu and Ping Tang},
title = {Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {57},
number = {10},
year = {2011},
keywords = {3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration},
abstract = {In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.},
issn = {0039-2480}, pages = {719-729}, doi = {10.5545/sv-jme.2010.167},
url = {https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/}
}
Cheng, G.,Gu, W.,Yu, J.,Tang, P. 2011 June 57. Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 57:10
%A Cheng, Gang %A Gu, Wei %A Yu, Jing-li %A Tang, Ping %D 2011 %T Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method %B 2011 %9 3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration %! Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method %K 3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration %X In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved. %U https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/ %0 Journal Article %R 10.5545/sv-jme.2010.167 %& 719 %P 11 %J Strojniški vestnik - Journal of Mechanical Engineering %V 57 %N 10 %@ 0039-2480 %8 2018-06-29 %7 2018-06-29
Cheng, Gang, Wei Gu, Jing-li Yu, & Ping Tang. "Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method." Strojniški vestnik - Journal of Mechanical Engineering [Online], 57.10 (2011): 719-729. Web. 20 Dec. 2024
TY - JOUR AU - Cheng, Gang AU - Gu, Wei AU - Yu, Jing-li AU - Tang, Ping PY - 2011 TI - Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method JF - Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2010.167 KW - 3-UCR parallel manipulator; complete differential-coefficient theory; Quaternion; least squares method; sensitivity model; kinematic calibration N2 - In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved. UR - https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/
@article{{sv-jme}{sv-jme.2010.167},
author = {Cheng, G., Gu, W., Yu, J., Tang, P.},
title = {Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method},
journal = {Strojniški vestnik - Journal of Mechanical Engineering},
volume = {57},
number = {10},
year = {2011},
doi = {10.5545/sv-jme.2010.167},
url = {https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/}
}
TY - JOUR AU - Cheng, Gang AU - Gu, Wei AU - Yu, Jing-li AU - Tang, Ping PY - 2018/06/29 TI - Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method JF - Strojniški vestnik - Journal of Mechanical Engineering; Vol 57, No 10 (2011): Strojniški vestnik - Journal of Mechanical Engineering DO - 10.5545/sv-jme.2010.167 KW - 3-UCR parallel manipulator, complete differential-coefficient theory, Quaternion, least squares method, sensitivity model, kinematic calibration N2 - In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved. UR - https://www.sv-jme.eu/sl/article/overall-structure-calibration-of-3-ucr-parallel-manipulator-based-on-quaternion-method/
Cheng, Gang, Gu, Wei, Yu, Jing-li, AND Tang, Ping. "Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 57 Number 10 (29 June 2018)
Strojniški vestnik - Journal of Mechanical Engineering 57(2011)10, 719-729
© The Authors, CC-BY 4.0 Int. Change in copyright policy from 2022, Jan 1st.
In this article a simple yet effective approach for the structure calibration of a three degree-offreedom (DOF) parallel manipulator is presented. In this approach, the model of the pose error expressed by the Quaternions Parameters was established, based on complete differential-coefficient theory. This was followed by an investigation into the degree of influences represented as sensitivity percentages, of source errors on the pose accuracy with the aid of a statistical model of sensitivity coefficients. Then, the kinematic calibration model with the successive approximation algorithm was achieved. The simulation has been carried out to verify the effectiveness of the proposed algorithm and the results show that the accuracy of the calibration can be significantly improved.