Accuracy Analysis of a Parallel Robot with Particle Swarm Optimization

Essential of accuracy analysis to a parallel robot is to obtain the errors in the workspace of the robot with all kinds of error sources, and it can be transformed into a nonlinear function set. Some methods applied to solve this problem such as interval analysis, are just complex. Particle swarm optimization (PSO) is robust, easy to use and effective, which is used widely in many science and engineering fields. To get the errors of a parallel robot, the error model is built based on the kinematic analysis of it, and PSO is used to obtain the maximum and minimum error. The pose error of a parallel robot is calculated with PSO as an example. The result shows that PSO is quite appropriate for the parallel robot accuracy analysis.