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A Parameter Dimension Reduction-Based Estimation Approach to Enhance the Kinematic Accuracy of a Parallel Hardware-in-the-Loop Docking Simulator

Published online by Cambridge University Press:  20 October 2020

Yan Hu Open the ORCID record for Yan Hu [Opens in a new window] ,
Feng Gao ,
Xianchao Zhao ,
Tianhao Yang ,
Haoran Shen ,
Chenkun Qi  and
Rui Cao
Yan Hu
Affiliation:
State Key Lab of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China. E-mails: huyanwhu@163.com, fengg@sjtu.edu.cn, xczhao@sjtu.edu.cn, chenkqi@sjtu.edu.cn, caorui@sjtu.edu.cn
Feng Gao*
Affiliation:
State Key Lab of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China. E-mails: huyanwhu@163.com, fengg@sjtu.edu.cn, xczhao@sjtu.edu.cn, chenkqi@sjtu.edu.cn, caorui@sjtu.edu.cn
Xianchao Zhao
Affiliation:
State Key Lab of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China. E-mails: huyanwhu@163.com, fengg@sjtu.edu.cn, xczhao@sjtu.edu.cn, chenkqi@sjtu.edu.cn, caorui@sjtu.edu.cn
Tianhao Yang
Affiliation:
Shanghai Aerospace Equipment Manufacturer Co., Ltd., Shanghai 200245, PR China E-mails: yangtianhao149@126.com, haoran26@126.com
Haoran Shen
Affiliation:
Shanghai Aerospace Equipment Manufacturer Co., Ltd., Shanghai 200245, PR China E-mails: yangtianhao149@126.com, haoran26@126.com
Chenkun Qi
Affiliation:
State Key Lab of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China. E-mails: huyanwhu@163.com, fengg@sjtu.edu.cn, xczhao@sjtu.edu.cn, chenkqi@sjtu.edu.cn, caorui@sjtu.edu.cn
Rui Cao
Affiliation:
State Key Lab of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, PR China. E-mails: huyanwhu@163.com, fengg@sjtu.edu.cn, xczhao@sjtu.edu.cn, chenkqi@sjtu.edu.cn, caorui@sjtu.edu.cn
*
*Corresponding author. E-mail: fengg@sjtu.edu.cn
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Summary

The docking simulators are significant ground test equipment for aerospace projects. The fidelity of docking simulation highly depends on the accuracy performance. This paper investigates the kinematic accuracy for the developed docking simulator. A novel kinematic calibration method which can reduce the number of parameters for error modeling is presented. The principle of parameters separation is studied. A simplified error model is derived based on Taylor series. This method can contribute to the simplification of the error model, fewer measurements, and easier convergence during the parameters identification. The calibration experiment validates this method for further accuracy enhancement.

Keywords

KinematicsAccuracyParallel robotHardware-in-the-loopDocking simulator
Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 959 - 974
Copyright
© The Author(s), 2020. Published by Cambridge University Press

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