Calibration using adaptive model complexity for parallel and fiber-driven mechanisms

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F16%3A00240414" target="_blank" >RIV/68407700:21220/16:00240414 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1017/S0263574715000429" target="_blank" >http://dx.doi.org/10.1017/S0263574715000429</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1017/S0263574715000429" target="_blank" >10.1017/S0263574715000429</a>

Result language

angličtina

Original language name

Calibration using adaptive model complexity for parallel and fiber-driven mechanisms

Original language description

The paper deals with the development and application of a new adaptive calibration method that extends the geometrical calibration of mechanisms from calibration of only dimensions and kinematical joint positions into the calibration of kinematic joint shape imperfections. Originally unknown nonlinear properties of the kinematical pairs are adaptively included into the kinematical models that are used during the calibration calculation. The method uses description by local linear models and validity functions in order to identify and describe nonlinear properties of the kinematical pairs. During each calibration step, various models with growing complexity are considered before the best model variant is selected to improve calibration results. The method is mainly devoted to the structures with many loops like parallel and fiber-driven parallel mechanisms. The method is applied to parallel mechanism Sliding Star and parallel fiber-driven mechanism Quadrosphere.

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JR - Other machinery industry

OECD FORD branch

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Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotica

ISSN

0263-5747

e-ISSN

—

Volume of the periodical

34

Issue of the periodical within the volume

6

Country of publishing house

GB - UNITED KINGDOM

Number of pages

20

Pages from-to

1416-1435

UT code for WoS article

000375775100013

EID of the result in the Scopus database

2-s2.0-84936970827