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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التفاصيل البيبلوغرافية
المؤلف الرئيسي:	Zesheng Wang (15244172) (author)
مؤلفون آخرون:	Yanbiao Li (22170014) (author), Bo Chen (32294) (author), Kexin Ding (8739855) (author), Jialong Zhu (1834288) (author), Min Zhuang (218356) (author)
منشور في:	2025
الموضوعات:	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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Structure diagram of branched RPUR with errors.

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