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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_x - Nezařazeno - Článek v odborném periodiku (Jimp, Jsc a Jost)

CEP obor

JR - Ostatní strojírenství

OECD FORD obor

—

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2016

Kód důvěrnosti údajů

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

Název periodika

Robotica

ISSN

0263-5747

e-ISSN

—

Svazek periodika

34

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

20

Strana od-do

1416-1435

Kód UT WoS článku

000375775100013

EID výsledku v databázi Scopus

2-s2.0-84936970827