Skip to main content

Research Repository

Advanced Search

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

Bentaleb, Toufik; Iqbal, Jamshed

Authors

Toufik Bentaleb



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 Mar 29, 2024
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

Files

Published article (479 Kb)
PDF

Copyright Statement
©2021 The authors. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright holder





You might also like



Downloadable Citations