Kinematic Calibration of Stewart Platform Based on Relative Visual Pose

Journal of System Simulation ›› 2016, Vol. 28 ›› Issue (9): 2267-2274.

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Kinematic Calibration of Stewart Platform Based on Relative Visual Pose

Ma Jin^1,2, Zhang Guofeng^1,2, Dai Shuling^1,2, Zeng Rui^1,2

1. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China;
2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received:2015-06-08 Revised:2015-07-24 Online:2016-09-08 Published:2020-08-14

Abstract

Abstract: To improve the control accuracy of flight simulator motion system, a kinematic error analysis and calibration based on relative visual pose measurement of electric Six-DOF Stewart platform were proposed. Considering the structural characteristic of Stewart platform, a rotary compensation algorithm was concerned firstly to raise the control accuracy. Then kinematic error model and optimal calibration algorithm were established, according to kinematic equations and vector closed-loop characteristic. Latterly, pose data was achieved using Basler industrial camera and ID marker featured by CRC (Cyclic Redundancy Check) and FEC (Forward Error Correction). Finally, measurements and experiment results supported the validity of the algorithm and higher control precision was obtained.

Key words: kinematic calibration, stewart platform, error analysis, visual pose

CLC Number:

TP391.7

Ma Jin, Zhang Guofeng, Dai Shuling, Zeng Rui. Kinematic Calibration of Stewart Platform Based on Relative Visual Pose[J]. Journal of System Simulation, 2016, 28(9): 2267-2274.

References 14

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Kinematic Calibration of Stewart Platform Based on Relative Visual Pose

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