Mobility constraints on the legs of a parallel robot to improve the kinematic calibration.

Due to errors such as manufacturing or assembly defects, it is well known that the geometry of robotics manipulators do es not exactly match the design goals. A direct drawback lies in a reduced accuracy of the manipulator which turns out to b e a problem since rob to control requires accurate kinematic models. One way to tackle this problem consists in improving the knowledge of the kinematic model using kinematic calibrations. This is the problem we address in the contribution for parallel robot.