An Efficient Calibration Method for 6 DOF Parallel Mechanism (3<sup>rd</sup> Report, The Reduction of Operations by Block Division of a Calibration Matrix)

Abstract

This paper proposes an effective kinematic calibration method using blocked matrix for parallel mechanism. Because of many mechanical parameters in parallel mechanism, in some cases the calibration matrix increases in size and becomes ill-conditioned. Then, in order to clarify the cause, the structure of the calibration matrix is analyzed. As a result, it is shown that a calibration matrix can be blocked for every loop containing a drive cylinder, and the calibration method using this blocked matrix is suggested. Using the proposed calibration method, it is shown that the amount of calculation is reduced to one severalth with maintaining calibration precision.