Abstract
Based on a novel handling concept, the reconfigurable modular multi-arm robot system PARAGRIP is able to handle objects with six DOF by including them into a parallel kinematic structure. The properties of this repeatedly new created parallel structure can be adjusted by appropriate choice of the grasping-and base points to gain optimal performances for a given task. As kinematic parameters determine the transmission behavior and properties of the structure, deviations in the kinematic control model induce positioning errors of the object. In this work, the reduction of these positioning errors is investigated by parameter identification of the implemented kinematic parameters for a single robotic arm. After deriving the kinematic relations of the system, the pose is measured using an external referencing system. Meaningful kinematic parameters are identified and it is shown that the accuracy of each arm can be increased significantly.
Published Version
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