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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 양 정 삼 | - |
| dc.contributor.author | Zhe, Yang | - |
| dc.date.issued | 2012-08 | - |
| dc.identifier.other | 12702 | - |
| dc.identifier.uri | https://aurora.ajou.ac.kr/handle/2018.oak/10234 | - |
| dc.description | 학위논문(석사)아주대학교 일반대학원 :산업공학과,2012. 8 | - |
| dc.description.tableofcontents | TABLE OF CONTENTS v LIST OF FIGURES vii 1. Introduction 1 1.1 Introduction of Parallel Robots 1 1.2 Robot Calibration 2 1.3 Research Contents of This Study 3 2． Related Works 4 2.1 Kinematic Calibration Methods 4 2.2 Kinematic Calibration Process 6 2.2.1 Modeling 6 2.2.2 Measurement 7 2.2.3 Identification 8 2.2.4 Compensation 8 2.3 Calibration Method Used in This Study 10 3. Kinematic Model 11 3.1 Model of 3-DOF Secondary Mirror 11 3.2 Inverse Kinematic Equation 13 4. Kinematic Calibration 19 4.1 Measurement Process 19 4.2 Least Square Method 21 5. Simulation and Experimental Results 23 5.1 Simulation Model 23 5.2 Experimental Results 27 6. Conclusion 30 Appendix A 32 Appendix B 38 Appendix C 42 References 45 | - |
| dc.language.iso | eng | - |
| dc.publisher | The Graduate School, Ajou University | - |
| dc.rights | 아주대학교 논문은 저작권에 의해 보호받습니다. | - |
| dc.title | Kinematic Calibration of 3-DOF Secondary Mirror of Giant Magellan Telescope Based on Least Square Method | - |
| dc.type | Thesis | - |
| dc.contributor.affiliation | 아주대학교 일반대학원 | - |
| dc.contributor.department | 일반대학원 산업공학과 | - |
| dc.date.awarded | 2012. 8 | - |
| dc.description.degree | Master | - |
| dc.identifier.url | http://dcoll.ajou.ac.kr:9080/dcollection/jsp/common/DcLoOrgPer.jsp?sItemId=000000012702 | - |
| dc.description.alternativeAbstract | Because of manufacturing and assembly errors in the geometric parameters of parallel robots, it is necessary to calibrate them to improve the positioning accuracy. In this paper, the object of the study is a 3-DOF secondary mirror of Giant Magellan Telescope, which is a 3-DOF parallel robot. In order to calibrate this mechanism, a kinematic model is developed and a least square algorithm is proposed. In order to supervise the tip-tilt movement of the 3-DOF secondary mirror directly and conveniently, an simulation model is also developed. Finally, through conducting some experiments, this calibration method is verified, and experimental results show a good effect. | - |
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