Abstract
This paper presents a computational model that defines a methodology for the control, performance evaluation, and calibration of a parallel mechanism by means of the kinematic model, the kinematic parameter identification, and the control of the system actuators and sensors. The developed software has special relevance to the calibration of parallel mechanisms, allowing us to perform the system control, performance evaluation, and mechanism calibration in a single application. Parallel computing techniques are used to overcome the high computational cost involved with solving complex nonlinear kinematic models and parameter identification, obtaining a significant computational cost saving. Finally, the developed procedure is validated, obtaining an important improvement in the accuracy of the mechanism. This methodology can be used in mechanisms for metrology applications and machine tool processes.
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