| In this thesis kinematic calibration of a wire-actuated parallel robot is discussed. Available redundant sensing of joint displacements makes it feasible to consider the central linkage and the wire actuators of the wire-actuated parallel robot one at a time for calibration purposes.;The main contribution of this work is developing the appropriate kinematic models (for calibration purposes) of the central linkage and wire actuators of the robot, and also proposing a two-stage procedure for calibrating the robot. As well, two iterative minimization algorithms (Gauss-Newton and Levenberg-Marquardt methods respectively) have been compared and used in order to identify the kinematic parameters of the central linkage; in both of the methods, singularity or ill-conditioning of the identification Jacobian matrix should be avoided. Another contribution of the work is to use the Singular Value Decomposition method, combined with the Gauss-Newton minimization approach to take care of the possible singularity problem of the identification Jacobian matrix.;Further research has been performed to understand the causes of the singularity or ill-conditioning of the identification Jacobian matrix. (Abstract shortened by UMI.)... |
