Closed-form calibration of the Gantry-Tau parallel robot

This paper addresses the kinematic calibration of the Gantry-Tau parallel kinematic manipulator. It offers two closed-form solutions to this problem, which do not need any initial guess, contrarily to most calibration methods that are based on non-linear least square minimization. This makes the proposed methods applicable by non expert users in a context of mechanical modularity of the robot. Experimental results validate the approach.