Kinematic Calibration of Parallel Robots for Docking Mechanism Motion Simulation

Dayong Yu, Hongren Li, Weifang Chen
2011 International Journal of Advanced Robotic Systems  
A new method for calibrating a parallel robot is proposed as part of a project aimed at developing a calibration method for spacecraft docking mechanism motion simulator. To implement this method, a calibration equation is built by generating the constraint conditions of the end-effector's motion in the workspace using a three-dimensional coordinate measuring machine. According to the established calibration equation and the simulation, the geometrical parameters of the parallel robot are
more » ... fied. The effectiveness of the calibration method with a coordinate measuring machine is verified through random pose test experiment.
doi:10.5772/45684 fatcat:ko57brntovguvoghdacdkbxd2u