Abstract
This study deals with a kinematic calibration method for a six-degree-of-freedom parallel manipulator, based on parameter identification employing the inverse kinematics. Generally speaking, it is very difficult to precisely identify kinematic parameters of the parallel manipulators because some of those parameter errors generate less motion errors of the end effector. In addition, smaller working space of the end effector increases the difficulty. This report investigates the effects of expanded working space and larger motion errors generated by extended end effector on the parameter identification accuracy. Numerical simulations for parameter identification based on the inverse kinematics showed that working space expanded by extending the end effector improved estimated parameter accuracy and motion accuracy of the initial end effector.
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