On the improvement of calibration accuracy of parallel robots – modeling and optimization
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Control Department, LAMIH UMR CNRS 8201 (Laboratory of Industrial and Human Automation Control, Mechanical Engineering and Computer Science), University of Valenciennes, Valenciennes, France
University of Jeddah, College of Engineering, Department of Electrical and Electronic Engineering, Jeddah, Saudi Arabia
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
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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