Singularity-Based Calibration – A Novel Approach for Absolute-Accuracy Enhancement of Parallel Robots

Abstract

For the first time a robot calibration approach has been presented that does exclusively rely on the information delivered by the robot-system itself. Hence, as neither additional sensors nor special constraint devices are required in order to apply parameter identification methods, the proposed technique is very economical and easy to use. It is thus especially convenient to be used in small and medium sized companies which do neither own special robot calibration equipment nor have professional skilled robot calibration experts. The basic idea of the new calibration scheme has been explained from a theoretical point of view by means of a simple example structure and subsequently validated through experiments by means of a more complex spatial parallel structure. The obtained results emphasize the promising potential of the approach