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基于关节力传感器的并联六自由度机构标定方法

DOI: 10.6041/j.issn.1000-1298.2012.10.038, PP. 215-218

Keywords: 并联六自由度机构,关节力传感器,标定,结构参数

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Abstract:

提出了一种基于关节力传感器的并联六自由度机构结构参数标定方法。从力学角度出发,通过测量并联六自由度机构各关节驱动力,利用并联六自由度机构自身的运动学和动力学模型构造相应的辨识模型,实现其结构参数的标定。通过标定仿真验证了该方法的实用性和有效性。

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