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Implementing Extended Kinematics of a Cable-Driven Parallel Robot in Real-Time

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Cable-Driven Parallel Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 12))

Abstract

This paper describes the implementation of extended pulley kinematics for parallel cable robots. An algorithm for the extended kinematics taking into account cable pulleys is discussed and implemented in real-time. This solution uses an iterative solver which can be computationally costly, depending on convergence. The convergence was tested for a specific geometry and successfully implemented on the cable robot IPAnema. Accuracy of both the standard and extended kinematics were tested according to the ISO 9283 standard. The Absolute accuracy was measured to be 22.32 mm for the standard and 17.50 mm for the extended kinematics which shows some improvement. A method for testing accuracy of orientations is also introduced.

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Acknowledgments

The research leading to these results has received funding from the European Community’s Seventh Framework Programme under grant agreement No. NMP2-SL-2011-285404 (CABLEBOT) and by the Fraunhofer-Gesellschaft Internal Programs under Grant No. WISA 823.

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Authors and Affiliations

  1.  , Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany

    Valentin Schmidt & Andreas Pott

Authors
  1. Valentin Schmidt
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  2. Andreas Pott
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Correspondence to Valentin Schmidt .

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Editors and Affiliations

  1. Universität Duisburg-Essen, Lotharstraße 1, Duisburg, 47057, Germany

    Tobias Bruckmann

  2. technik und Automatisierung IPA, Fraunhofer-Institut für Produktions-, Nobelstr 12, Stuttgart, 70569, Germany

    Andreas Pott

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Schmidt, V., Pott, A. (2013). Implementing Extended Kinematics of a Cable-Driven Parallel Robot in Real-Time. In: Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 12. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31988-4_18

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  • DOI: https://doi.org/10.1007/978-3-642-31988-4_18

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-31987-7

  • Online ISBN: 978-3-642-31988-4

  • eBook Packages: EngineeringEngineering (R0)

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