Self-calibration of a general hexapod manipulator with enhanced precision in 5-DOF motions

Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey

“…The platform displacements are guided and measured directly in a Cartesian coordinate system. Additionally, a calibration method that uses a redundant leg with a displacement sensor is presented in (Chiu and Perng, 2004), an end of the leg is joined to the base of the platform through a ball joint, while the other end is a precision adapter that can be joined to the axis or the clamp of the end-effector.…”

Sensitivity analysis and kinematic calibration of 3-UCR symmetrical parallel robot leg

“…Direct configuration method adopts the precise measuring instruments, such as camera systems [10], inclinometers [11], theodolite [12] and laser tracking system [13]. Self-calibration method with redundant information relies on the redundant joint sensors, provided that the conflicting information and kinematic parameters values could be extracted from certain error model [14,15]. Self-calibration method without redundant information needs only to estimate some special conditions, such as wire mechanism [16], cylinder constraints [17] and singular configuration [18].…”

Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method

“…self-calibration method with redundant information [15] and [16] and selfcalibration method without redundant information [17] and [18]. Although the calibration of parallel manipulators had been study extensively and many novel methods of calibration had been presented, these studies merely focused on all kinematic parameters without sensitivity analysis.…”