Vision-based kinematic calibration of a H4 parallel mechanism

International audienceIn this article, we present the kinematic calibration of a H4 parallel robot using a vision-based measuring device. Calibration is performed according to the inverse kinematic model method, using first the design model then a model developed for calibration purpose. With a precision of the order of magnitude of 0.2mm and 0.03 • , our vision system allowed us to obtain a final positioning accuracy of the end-effector lower than 0.5mm. Conclusions are given on the use of a vision-based measuring device for the calibration of this class of mechanisms