On the accuracy of a Stewart platform. II. Kinematic calibration and compensation

An effective algorithm for the identification of the kinematic parameters of a Stewart platform is presented and verified through simulations. The algorithm can be applied to both the reduced and the full models, which differ by the number of parameters to be identified. Compensation procedures for models are also presented. The algorithm was tested using simulated measurements that included realistic measurement noise, and the results showed that the platform pose error was reduced by at least one order of magnitude. The identification algorithm is computationally expensive and has to be performed on a powerful computer for practical implementation