Abstract
Because of errors in the kinematic parameters of parallel robots, it is necessary to identify them to improve the pose accuracy for accurate task performance of semiphysical simulation platform. In this paper, a methodical way of kinematic parameter identification is introduced. It requires measurements of all legs and the pose information provided by a coordinate measuring machine. Nonlinear least squares algorithm is employed to determine the kinematic parameters. The measurement errors in the leg sensors are considered during kinematic modeling and kinematic parameter identification. Simulations and experimental studies on a Stewart parallel robot built in the Institute of Electrohydraulic Servo Simulation & Test System of Harbin Institute of Technology reveal the convenience and effectiveness of the proposed robot parameter identification algorithm and calibration method for parallel robots.http://dx.doi.org/10.5755/j01.mech.17.5.731
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
