Structure diagram of branched RPUR with errors.

Structure diagram of branched RPUR with errors.

<div><p>Kinematic calibration is essential for improving the absolute accuracy of parallel robots, but conventional identification methods often struggle with the complex, non-linear coupling of their numerous geometric error parameters. This can lead to convergence to local rather than...

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Bibliographic Details
Main Author: Zesheng Wang (15244172) (author)
Other Authors: Yanbiao Li (22170014) (author), Bo Chen (32294) (author), Kexin Ding (8739855) (author), Jialong Zhu (1834288) (author), Min Zhuang (218356) (author)
Published: 2025
Subjects:
Biotechnology
Plant Biology
Space Science
Biological Sciences not elsewhere classified
Mathematical Sciences not elsewhere classified
Information Systems not elsewhere classified
selected uniformly throughout
robot &# 8217
finite difference method
eliminate error sources
actuator displacement errors
rpur parallel robot
positional accuracy across
kinematical error analysis
global optimization strategy
experimental results demonstrate
overall pose error
penalty function approach
calibration methodology based
sensitivity analysis
parallel robots
objective function
identification results
global optima
absolute accuracy
workspace using
three recent
screw theory
performed using
paper proposes
onboard imu
novel self
negligible impact
moving platform
measurement points
measurement data
local rather
linear coupling
linear constraints
kinematic chain
joint encoders
inverse kinematics
handled using
established based
entire workspace
benchmark comparison
autonomous calibration
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