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Initial Length and Pose Calibration for Cable-Driven Parallel Robots with Relative Length Feedback

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 53))

Abstract

Feedback of cable lengths is commonly used in the determination of the robot pose for cable-driven parallel robots (CDPRs). As such, accurate information on the absolute cable length is important. However, for most CDPRs equipped with relative encoders, the absolute cable lengths depend on the system’s initial lengths. The initial cable length, and hence the robot’s initial pose, is typically unknown. In this paper, a forward kinematics based method to determine (calibrate) for the initial cable lengths and robot pose is proposed. The calibration problem is solved as a non-linear least squares optimisation problem, where only the relative lengths of cables over any random trajectory are required and measured. The proposed method is generic in the sense that it can be applied to any type of CDPR. The simulation and experimental results for various robots show that the method can effectively and efficiently determine the initial cable lengths and pose of the cable robot. This is useful in order to obtain more accurate cable length data to be used for forward kinematics to determine the robot’s pose.

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Notes

  1. 1.

    CASPR and the presented work can be accessed at https://www.github.com/darwinlau/CASPR.

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Acknowledgements

The work was supported by the grants from the Early Career Scheme sponsored by the Research Grants Council (Reference No. 24200516) and the Germany/Hong Kong Joint Research Scheme sponsored by the Research Grants Council of Hong Kong and the German Academic Exchange Service of Germany (Reference No. G-CUHK410/16). Acknowledgements to the CUHK T-Stone Robotics Institute for supporting this work, and Chen Song for assisting in the collection of results of the BM-Arm.

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Authors and Affiliations

  1. The Chinese University of Hong Kong, Shatin, Hong Kong

    Darwin Lau

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  1. Darwin Lau
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Correspondence to Darwin Lau .

Editor information

Editors and Affiliations

  1. Fac. Sciences et de Génie, Université Laval, Quebec City, Québec, Canada

    Clément Gosselin

  2. Mechanical Engineering, Université Laval, Quebec City, Québec, Canada

    Philippe Cardou

  3. Chair for Mechatronics, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Tobias Bruckmann

  4. Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA, Stuttgart, Baden-Württemberg, Germany

    Andreas Pott

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Lau, D. (2018). Initial Length and Pose Calibration for Cable-Driven Parallel Robots with Relative Length Feedback. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_13

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  • DOI: https://doi.org/10.1007/978-3-319-61431-1_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-61430-4

  • Online ISBN: 978-3-319-61431-1

  • eBook Packages: EngineeringEngineering (R0)

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