Kinematic calibration of parallel robots based on least squares algorithm

In the application of parallel robots, it is necessary to calibrate the kinematic parameters and improve the pose accuracy for accurate task performance. To do so, an error model is developed that takes into consideration all the kinematic parameter errors due to imprecision manufacturing and assembly. On the basis of the error model and the experimental data for the accuracy of the parallel robot, a least squares algorithm is proposed and tested. Simulations and experiments are presented to show the effectiveness of the proposed method.