...Ryan J. Caverly; Sze Kwan Cheah; Keegan R. Bunker; Samir Patel; Niko Sexton; Vinh L. Nguyen This article presents an algorithm to perform self-calibration of cable-driven parallel robots (CDPRs), where the CDPR’s end-effector pose is estimated in conjunction with the calibration of biases in CDPR’s...

...NanYan Shen; HengMing Yuan; Jing Li; ZiRui Wang; Liang Geng; HuiEn Shi; NingHe Lu The pose accuracy is a crucial issue that limits the application of hybrid robots. The model-free calibration instead of complex error modeling is investigated to improve the pose accuracy of a 5-degrees-of-freedom...

..., the main geometric parameters, involving error, are determined, while the real values of the parameters with an error are identified, through performed calibration experiments. Finally, the measurement results show that the positioning accuracy of the manipulator is significantly improved, after kinematic...

..., manufacturing and assembly processes, and kinematic calibration. Three typical and well-known parallel manipulators are taken as examples to illustrate the generality and effectiveness of this approach. As the first order terms are the dominating factors affecting the pose accuracy, expanding Eq. 3...

...Chunshi Feng; Shuang Cong; Weiwei Shang In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane...