Aspects of Calibration and Control of PARTNER Robots

This paper presents basic elements concerning calibration and modular control of PARTNER robots which are used in the field of machine-tools. The advantages of this new kind of machine-tools consist on their reconfigurability, on the possibility to improve accuracy of those machines etc. The main point of the paper is that in the state of data which are coming from sensor system, those sent by a simulation model for control algorithm are used. It must be also remarked that the control algorithm is developed into modular manner, using mca2 software. The paper presents also numerical results obtained with the virtual models which were developed