Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Calibration for a Planar Cable-Driven Parallel Robot

평면형 병렬 케이블 구동 로봇에 대한 형상보정

  • Jin, Xuejun (School of Mechanical Engineering, Chonnam National University) ;
  • Jung, Jinwoo (Robot Research Initiative, Chonnam National University) ;
  • Jun, Jong Pyo (School of Mechanical Engineering, Chonnam National University) ;
  • Park, Sukho (School of Mechanical Engineering, Chonnam National University) ;
  • Park, Jong-Oh (School of Mechanical Engineering, Chonnam National University) ;
  • Ko, Seong Young (School of Mechanical Engineering, Chonnam National University)
  • ;
  • 정진우 (전남대학교 로봇연구소) ;
  • 전종표 (전남대학교 기계공학부) ;
  • 박석호 (전남대학교 기계공학부/로봇연구소) ;
  • 박종오 (전남대학교 기계공학부/로봇연구소) ;
  • 고성영 (전남대학교 기계공학부/로봇연구소)
  • Received : 2015.06.06
  • Accepted : 2015.10.14
  • Published : 2015.11.01
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Abstract

This paper proposes a calibration algorithm for a three-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). To evaluate the proposed algorithm, we calibrated winches and an optical tracking sensor, measured the end-effector pose using the optical tracking sensor, and calculated the accurate robot configuration using the measurement information. To conduct an accuracy test on the end-effector pose, we followed guidelines from "Manipulating industrial robots - Performance criteria and related test methods." Through the test, it is verified that the position accuracy can be improved by up to 20% for a $2m{\times}2m$-sized planar cable robot using the proposed calibration algorithm.

Keywords

References

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