Kinematic calibration of a wire-actuated parallel robot

In this article kinematic calibration of a wire-actuated parallel robot is discussed. Available redundant sensing of joint displacements makes it feasible to consider central linkage and wire actuators of the robot one at a time for calibration purposes. Identifiability issues due to the existence of a parallelogram in the central linkage are discussed. Kinematic modelling and parameter estimation of the wire actuators are also carried out. The results are validated through simulations.