Practical application of manipulators needs determination of their dynamic errors to guarantee positioning accuracy.
Many researchers determined kinematic errors of Delta parallel manipulators, but not dynamic errors.
Pang Thae Jin, a researcher at the Robotics Institute, has established a new method for dynamic error determination of a Delta parallel manipulator with three actuators using a deformation model.
He wrote an algorithm based on the kinematic and dynamic models and developed a program for obtaining dynamic errors of a Delta parallel robot, using MATLAB software.
His method can be applied to construction of control systems for error compensation of complicated manipulators of different shapes.
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