Compliance error compensation technique for parallel robots composed of non-perfect serial chains

@article{Klimchik2012ComplianceEC,
  title={Compliance error compensation technique for parallel robots composed of non-perfect serial chains},
  author={Alexandr Klimchik and Anatoly Pashkevich and Damien Chablat and Geir Hovland},
  journal={CoRR},
  year={2012},
  volume={abs/1211.5793}
}
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and… CONTINUE READING

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