Jo Nov 17, 2023

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.