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ARTICLE
On the improvement of calibration accuracy of parallel robots – modeling and optimization
| 1 | Control Department, LAMIH UMR CNRS 8201 (Laboratory of Industrial and Human Automation Control, Mechanical Engineering and Computer Science), University of Valenciennes, Valenciennes, France |
| 2 | University of Jeddah, College of Engineering, Department of Electrical and Electronic Engineering, Jeddah, Saudi Arabia |
| 3 | Department of Electrical Engineering, FAST National University, Islamabad, Pakistan |
Submission date: 2018-06-02
Acceptance date: 2019-10-07
Online publication date: 2020-01-15
Publication date: 2020-01-15
Journal of Theoretical and Applied Mechanics 2020;58(1):261–272
KEYWORDS
ABSTRACT
This paper proposes kinematic based calibration methods for Delta parallel robots. The
boundary of the robot workspace is computed using a forward kinematic model. Influence
of errors in kinematic parameters on the workspace boundaries is investigated. The novelty
of the proposed approach lies in Jacobian-based computation of kinematic models. Also, the
present work extends and applies the existing calibration methods traditionally meant for
serial robots on the Delta robot. These methods include the forward method and the inverse
method. Simulation results confirm the efficacy of the proposed calibration strategies.
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