Kinematic calibration of parallel robots

Abstract

A new algorithm for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking simulator. To implement this algorithm, a calibration equation is built by generating the constraint conditions of the end-effector's motion in the workspace using a three-dimensional coordinate measuring machine. These measurement data are used to identify the parameters of the calibration equation resulting in an accuracy improvement of RMS (root mean squares errors) a factor of 2.7 for the position and a factor of 3.9 for the orientation.