Autonomous Calibration of Parallel Robots

Abstract This paper presents two methods for the autonomous calibration of 6 degrees of freedom parallel robots. The first is based on using the readings of position sensors on some passive joints. The second is fully autonomous and is based on fixing successively the direction of one leg and reading only the motorized prismatic joints. The idea of the first method is the same as that presented in (Zhuang and Liu, 1996), our contribution resides on the proposition of a new solution method which accelerates very much the solution time.

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