On the improvement of calibration accuracy of parallel robots - Modeling and optimization

Bentaleb, Toufik; Iqbal, Jamshed

Abstract

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.

Citation

Bentaleb, T., & Iqbal, J. (2020). On the improvement of calibration accuracy of parallel robots - Modeling and optimization. Journal of Theoretical and Applied Mechanics (Poland), 58(1), 261-272. https://doi.org/10.15632/JTAM-PL/115863

• Journal Article Type: Article
• Acceptance Date: Oct 7, 2019
• Online Publication Date: Jan 15, 2020
• Publication Date: 2020-01
• Deposit Date: Sep 14, 2021
• Publicly Available Date: Sep 24, 2021
• Journal: Journal of Theoretical and Applied Mechanics (Poland)
• Print ISSN: 1429-2955
• Peer Reviewed: Peer Reviewed
• Volume: 58
• Issue: 1
• Pages: 261-272
• DOI: https://doi.org/10.15632/JTAM-PL/115863
• Keywords: Robot calibration; Error analysis; Parallel robots; Kinematic; Modelling
• Public URL: https://hull-repository.worktribe.com/output/3796881