A prototype robot for polishing and milling large objects

The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high stiffness and has a large work envelope. These features make this robot suitable for relatively high precision machining operations on large workpieces. The conroller for this robot was based on MRROC++, which is a robot programming framework. Thus the controller could be tailored to the tasks at hand, including the capability of in‐program switching of kinematic model parameters. To obtain those parameters for different locations in the work‐space a calibration procedure using linear measurement guides has been devised.