Calibration Methods of Planar Parallel Robot

Abstract:

Kinematic calibration is an effective method of improving robotic absolute position accuracy by means of measurement, identification and compensation etc. This paper investigates the technology of kinematic calibration and error compensation for the 2-DOF planar parallel robot. A multi-step calibration method is presented based on error itterative method and nonlinear optimum method. Experimental results indicate that the proposed method can effectively compensate position error of the robot in Oxy plane, and the absolute position error of the calibrated robot is less than 6μm.

• Periodical: Key Engineering Materials (Volume 464)
• Pages: 340-343
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.464.340
• Online since: January 2011
• Authors: Wei Da Li, Juan Li, Li Ning Sun
• Keywords: Caliraton Method, Multiple-Step Identification, Parallel Robot

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