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On the improvement of calibration accuracy of parallel robots – modeling and optimization

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.
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https://hal-uphf.archives-ouvertes.fr/hal-03689244
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Submitted on : Tuesday, June 7, 2022 - 9:25:08 AM
Last modification on : Tuesday, June 14, 2022 - 12:05:42 PM
Long-term archiving on: : Thursday, September 8, 2022 - 6:13:41 PM

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Toufik Bentaleb, Jamshed Iqbal. On the improvement of calibration accuracy of parallel robots – modeling and optimization. Journal of Theoretical and Applied Mechanics, Polish Society of theoretical and applied Mechanics, 2020, 58 (1), pp.261 - 272. ⟨10.15632/jtam-pl/115863⟩. ⟨hal-03689244⟩

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