Kinematical error analysis and autonomous calibration of a 5PUS-RPUR parallel robot.

ABSTRACT: Kinematic calibration is essential for improving the absolute accuracy of parallel robots, but conventional identification methods often struggle with the complex, non-linear coupling of their numerous geometric error parameters. This can lead to convergence to local rather than global optima, limiting the effectiveness of the calibration. To address this challenge, this paper proposes a novel self-calibration methodology based on a global optimization strategy. Taking the 5PUS-RPUR parallel robot as an example, its inverse kinematics is established based on screw theory. A sensitivity analysis is performed using the finite difference method to screen for and eliminate error sources with a negligible impact on the moving platform's pose. Measurement points are then selected uniformly throu

SUBMITTER: Wang Z 

PROVIDER: S-EPMC12404506 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature