Self-Calibration of Redundantly Actuated PKM Exploiting Kinematic Landmarks

  • Andreas MüllerEmail author
  • Maurizio Ruggiu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


A self-calibration method for redundantly actuated parallel manipulators (RA-PKM) is proposed that uses motion reversal points (MRP) of actuators as kinematic calibration landmarks. The basic principle is to restrain a RA-PKM to 1 DOF and detect the MRP of redundant actuators. The difference of measured MRP and those deduced from a kinematic model embodies the calibration error. Therewith a numerical adaptation scheme is introduced. Simulation results for a 3 DOF RA-PKM confirm very high accuracy of the method.


Calibration Parallel mechanisms Redundant actuation Singularities 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Institute of MechatronicsChemnitzGermany
  2. 2.Department of Mechanical EngineeringUniversity of CagliariCagliariItaly

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