Abstract

The experimental determination of the accuracy of a three-degree-of-freedom (three-dof) spatial cable-suspended parallel robot is addressed in this paper. The concept of the dynamic trajectory planning of a three-dof spatial cable-suspended parallel robot is first briefly recalled. Then, periodic trajectories are planned and an external three-dimensional measurement system is used to determine the actual trajectory of the end-effector. Linear regression is used to fit the measured trajectory with the planned trajectory and eliminate the bias error. The accuracy of the trajectories is then assessed.

Full Text
Published version (Free)

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call