著者

三村 宣治

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.79, no.806, pp.3652-3661, 2013 (Released:2013-10-25)

参考文献数

11

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This paper investigates an efficient calibration method for 6 DOF parallel mechanisms by simulation. Since a calibration matrix has ill condition, many random measured poses are needed in calibration. In this paper, at first, we investigate about the number of measured poses, the condition number of calibration matrix and the calibration errors. The results show there exist the lower limits in the number of measured poses and the inverted condition number, and the decrease in the number of measured poses increases calibration errors. Next, we investigate reduction of the measured poses and the output data. The results show the calibration may be enabled, even if some measured poses and the output data are reduced. Based on the results, we find a minimal pose set required for a calibration, and show that even if the set of the simplified pose is used, the calibration errors do not increase so much.

著者

三村 宣治 小野寺 良二

出版者

日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.71, no.707, pp.2218-2224, 2005-07-25

被引用文献数

3

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There is a method of measuring a shake and vibration quantiatively and evaluating, in one of the performance evaluations of a moving object like vehicles. In that case, the acceleration information as an amount of physics of a shake and vibration becomes important. Furthermore, the acceleration information on 6 DOF is needed when measuring complicated motion of vehicles etc. Then, we constructed 6 DOF acceleration sensor system which used three dual-axis accelerometers, and enabled measurement 6 DOF acceleration. In this paper, we analyzed the problem of the stability in the measurement system of the same method that was not clearly analyzed in the past research. We took notics of a nonlinear term that consist of an angular velocity, which included in the derivation algorithm of 6 DOF acceleration, and made clearly how a nonlinear term would influence the stability of a measurement system by the analysis simulation. And we installed the acceleration sensor in vehicles and performed measuring 6 DOF acceleration to a slalom run. As a result of comparing survey data with a simulation data, emission of the measurement system under the influence of a nonlinear term was not seen.

著者

三村 宣治 小野寺 良二

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.724, pp.3798-3805, 2006-12-25

被引用文献数

1

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This paper investigates a calibration method of 6 DOF acceleration sensor system using multiple linear accelerometers. So far, it has been considered that a set of 6 DOF acceleration data is to be essential to its calibration. In this accelerometer system, 6 DOF acceleration can be resolved using the geometrical condition of 6 linear accelerometers. Therefore, the measurement error results from the alignment error of the 6 linear accelerometers. And so, we analyze the alignment error and give a caribration method to identify the error only using some limited linear accelerations (acceleration of gravity). This paper discusses its calibration method with experiments for our prototype 6 DOF accelerometer. The results show that the calibration using limited data is possible and has good performance.