Kinematic calibration of the parallel Delta robot

摘要

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").