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http://dx.doi.org/10.5302/J.ICROS.2015.15.0097

Calibration for a Planar Cable-Driven Parallel Robot  

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)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.11, 2015 , pp. 1070-1075 More about this Journal
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
cable-driven parallel robot; calibration; KS B ISO 9283;
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