Pose Measurement of Parallel Kinematic Machines with Serial Link Measuring System

  • D. S. Milutinovic
  • M. Glavonjic
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)


For higher accuracy of parallel kinematic robots and machine tools in particular, several error models and compensation algorithms have been developed. The paper presents the approach for testing and control of Stewart platform-based machine tools and robots. The approach is based on serial link measuring system with six DOF in general, which may be used as an autonomous measuring device or in symbiosis with parallel kinematic machines to achieve Cartesian-based control schemes. Developed approach is demonstrated and verified on the example of developed planar parallel simulator with three DOF.


Position and Orientation Measurement Error Correction Feedback Control 


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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • D. S. Milutinovic
    • 1
  • M. Glavonjic
    • 1
  1. 1.Mechanical Engineering FacultyUniversity of BeogradBeogradYugoslavia

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