A kinematic calibration method of a 3-DOF secondary mirror of the giant magellan telescope based on least square algorithm

作者：Yang Zhe; Cheon Sang Uk; Yang Jeongsam^*

来源：Journal of Mechanical Science and Technology, 2013, 27(12): 3779-3786.

DOI：10.1007/s12206-013-0922-0

• Inverse kinematics
• Kinematic calibration
• Least square method
• Parallel robots

Because of manufacturing and assembly errors in the geometric parameters of parallel robots, calibrating the parameters is necessary for improving the positioning accuracy. The objective of this study is a 3-DOF secondary mirror of the giant Magellan telescope, which is operated by a 3-DOF parallel robot. In this paper, a kinematic calibration method is presented. In this method, a moving platform is commanded to execute a sinusoidal movement by the cooperation of three piezoelectric actuators, and experimental data is obtained using capacitive sensors. The inverse kinematic and forward kinematic equations for the local system are illustrated in this paper. Furthermore, importantly, a least square algorithm is implemented to reduce the residual between the experimental values and expected values. Additionally, a simulation model is developed for supervising the movement of the system. Results of experiment show that the method used in this paper is effective and efficient.

• 出版日期2013-12