Calibration of a 2-DOF planar parallel robot: home position identification and experimental verification

This paper presents the calibration of home position for a planar parallel robot. Two methods, geometric error iterative method and nonlinear fitting method are proposed to achieve joint angles at home position. Simulations and the experiments are performed based on these two methods. The simulation results prove the robustness of identification methods to the measurement noise. And the experimental results show the global average accuracy of the robot is improved from 0.99 mm to less than 0.1 mm.