Abstract

HERNANDEZ-MARTINEZ, E.E.; LOPEZ-CAJUN, C.S.  and  JAUREGUI-CORREA, J.C.. Calibration of Parallel Manipulators and their Application to Machine Tools. A State of the Art Survey. Ing. invest. y tecnol. [online]. 2010, vol.11, n.2, pp.141-154. ISSN 2594-0732.

Some of the main investigations on calibration methods of parallel mechanisms are briefly discussed in this work. Initially, the identification of errors in these structures applied to machine tools is presented, later the kinematics and the concept of parallel mechanisms calibration is introduced. Additionally, the main characteristics of the existing methods of calibration are discussed, such as the parametrical approaches, the calibration methods with internal/external measuring devices, innovative calibration methods and works that provide assistance to this aim.

Keywords : Parallel mechanisms; calibration; machine tools; inverse kinematics; forward kinematics.