Abstract
A cable-driven parallel robot has benefits of wide workspace, high payload, and high dynamic response owing to its light cable actuator utilization. For wide workspace applications, in particular, the body frame becomes large to cover the wide workspace that causes robot kinematic errors resulting from geometric uncertainty. However, appropriate sensors as well as inexpensive and easy calibration methods to measure the actual robot kinematic parameters are not currently available. Hence, we present a calibration sensor device and an auto-calibration methodology for the over-constrained cable-driven parallel robots using one-dimension laser distance sensors attached to the robot end-effector, to overcome the robot geometric uncertainty and to implement precise robot control. A novel calibration workflow with five phases—preparation, modeling, measuring, identification, and adjustment—is proposed. The proposed calibration algorithms cover the cable-driven parallel robot kinematics, as well as uncertainty modeling such as cable elongation and pulley kinematics. We performed extensive simulations and experiments to verify the performance of the suggested method using the MINI cable robot. The experimental results show that the kinematic parameters can be identified correctly with 0.92 mm accuracy, and the robot position control accuracy is increased by 58%. Finally, we verified that the developed calibration sensor devices and the calibration methodology are applicable to the massive-size cable-driven parallel robot system.
Highlights
A cable-driven parallel robot is a special type of parallel robot system that is actuated by multiple cables instead of rigid links to control the robot end-effector (EE)’s six degree-of-freedom (DOF) postures
We present a novel cable-driven parallel robot calibration methodology based on a newly prototyped calibration sensor device made of commercially available laser distance sensors
This paper is organized as follows: in Section 2, we present the overview of the over-constrained cable robot and the suggested calibration methodology
Summary
A cable-driven parallel robot (or called a cable robot) is a special type of parallel robot system that is actuated by multiple cables instead of rigid links to control the robot end-effector (EE)’s six degree-of-freedom (DOF) postures. Online calibration procedures including sensor measurement and kinematic parameter with eight cables and the respective eight motor-winch system that winds and unwinds each polymer fiber cable to control the six DOF motion and posture of the EE. Robot Research Initiative (Gwangju, South Korea) as a cable robot research platform to develop and running predefined commands This interface does not have real-time implementation capability, but test the hardware, control algorithm, calibration method, architecture designs, etc., before proceeding it allows an easy interaction between the robot and the operator or another robot. This interaction is to the actual system application.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
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 callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
