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Kinematic calibration of the parallel Delta robot

Published online by Cambridge University Press:  05 April 2001

Peter Vischer
Affiliation:
Institute of Microengineering, Swiss Federal Institute of Technology – 1015 Lausanne, Switzerland
Reymond Clavel
Affiliation:
Institute of Microengineering, Swiss Federal Institute of Technology – 1015 Lausanne, Switzerland

Abstract

This article deals with the kinematic calibration of the Delta robot. Two different calibration models are introduced: The first one takes into account deviations of all mechanical parts except the spherical joints, which are assumed to be perfect (“model 54”), the second model considers only deviations which affect the position of the end-effector, but not its orientation, assuming that the “spatial parallelogram” remains perfect (“model 24”). A measurement set-up is presented which allows to determine the end-effector's position and orientation with respect to the base. The measurement points are later be used to identify the parameters of the two calibration model resulting in an accuracy improvement of a factor of 12.3 for the position and a factor of 3.7 for the prediction of the orientation.

Type
Research Article
Copyright
1998 Cambridge University Press

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