Relative posture-based kinematic calibration of a 6-RSS parallel robot by using a monocular vision system

Abstract

In the control of parallel robot, kinematic parameters calibration is an essential preparation step. In this paper, a posture variation based algorithm is proposed to calibrate the kinematic parameters of a 6-RSS parallel robot. A relative posture-based calibration algorithm is designed to search the optimal kinematic error parameters based on visually detected posture variation. This method uses both the position and orientation variations and does not need the accurate location information for the detection sensor. The simulation results validate the effectiveness of the algorithm under different circumstances. And the experimental results demonstrate that the calibrated kinematic parameters can be used to improve the end-effector tracking performance.