Calibration of a parallel robot using multiple kinematic closed loops

Abstract

A method is presented for autonomous kinematic calibration of a 3-DOF redundant parallel robot. Multiple closed loops are used in a least squares optimization method. Ill-conditioning, column scaling of the gradient matrix, and observability indices for the best pose set of robot calibration configurations are discussed. Experimental results are presented and compared with the results using an external calibration device.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>