| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 802428 | Mechanism and Machine Theory | 2007 | 17 Pages |
Abstract
In this article kinematic calibration of a wire-actuated parallel robot is discussed. Available redundant sensing of joint displacements makes it feasible to consider central linkage and wire actuators of the robot one at a time for calibration purposes. Identifiability issues due to the existence of a parallelogram in the central linkage are discussed. Kinematic modelling and parameter estimation of the wire actuators are also carried out. The results are validated through simulations.
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Authors
M. Saeed Varziri, Leila Notash,