Kinematic Calibration of Parallel Robots Based on L-Infinity Parameter Estimation

Pose accuracy is one of the most important problems in application parallel robots. In order to adhere strict pose error bounds, a new kinematic calibration method proposed, which includes model with 60 parameters and different parameter identification algorithm based on L-infinity estimation. Parameter errors are identified by using linear programming minimize maximum difference between predictions workspace measurements. Simulation results show that proposed has better estimation fewer when measurement noise less than errors. Experimental position orientation errors, respectively, decreased 86.48% 87.85% original values 14.32% 18.23% those conventional least squares method. The feasibility validity verified improved robot.