A Cable-driven Parallel Mechanism for Capturing Object Appearance from Multiple Viewpoints

Deschênes, Jean-Daniel; Lambert, Patrice; Perreault, Simon; Martel-Brisson, N.; Zoso, Nathaniel; Zaccarin, A.; Hébert, P.; Bouchard, Samuel; Gosselin, Clément

doi:10.1109/3dim.2007.4

Cited by 12 publications

(8 citation statements)

References 13 publications

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“…Along a square reference trajectory of 21 cm × 21 cm, an accuracy of 1.7 mm and 7.8 mrad was obtained. Besides, a camera mounted on the mobile platform of a CDPR was used in [8,20,[33][34][35]. The camera was not used for feedback control purposes in [8,20,33].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

et al. 2019

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This paper deals with the modeling and vision-based control of large-dimension cable-driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are derived from the elastic catenary cable modeling. These models turn out to be dependent on the pose of the mobile platform (end-effector), on the cable tangent directions and on the cable tensions. In order to control the motion of the robot, a position-based visual servo control is used, where the mobile platform pose is measured by vision and used for regulation. A multi-camera setup and load cells provide the aforementioned desired measurements, i.e., the mobile platform pose, the directions of the tangents to the cables, and the cable tensions. The proposed approach was validated in experiments on the large-dimension cable-driven parallel robot prototype CoGiRo of global dimensions 15 m x 11 m x 6 m (L x l x h). A maximum error of less than 1 cm in position and 0.5 • in orientation was achieved. Moreover, in the case of cable-driven parallel robots larger than the prototype CoGiRo, simulations were conducted in order to assess the influence on the vision-based control of four instantaneous inverse kinematics models.

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Section: Introductionmentioning

confidence: 99%

“…Besides, a camera mounted on the mobile platform of a CDPR was used in [8,20,[33][34][35]. The camera was not used for feedback control purposes in [8,20,33]. In [34], an image-based visual servo control with an eye-in-hand configuration allowed the Marionet-Assist CDPR to grasp and move an object.…”

Section: Introductionmentioning

confidence: 99%

Modeling and vision-based control of large-dimension cable-driven parallel robots using a multiple-camera setup

et al. 2019

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“…CDPRs can also be used for rehabilitation purposes [7] and as haptic devices [8]. CDPR studies deal also with other applications, such as rescue operations [9], artistic painting [10] and 3D scanning [11].…”

Section: Introductionmentioning

confidence: 99%

A reconfiguration strategy for Reconfigurable Cable-Driven Parallel Robots

Gagliardini

Caro

Gouttefarde

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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This paper deals with Reconfigurable Cable-Driven Parallel Robots (RCDPRs). A RCDPR is able to change the locations of its cable exit points, the latter being defined as the connection points between the cables and the robot base frame. Given a RCDPR, a set of possible reconfigurations, a desired platform path and a description of the robot environment, the reconfiguration strategy proposed in this paper selects the optimal configurations to be associated to each point of the desired path. The selection of the optimal configurations can be performed with respect to several criteria such as the number of configuration changes, the number of cable reconfigurations and the robot stiffness. In this paper, the optimization is performed using a Dijkstra's based algorithm.

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“…If the goal is to generate plus or minus a given range of efforts, then T will be a hyper-rectangle [12]. Another possible shape of T is a disk around a given point if the mechanism has to move a platform along a surface [9]. These examples are illustrated in Figure 10.…”

Section: Relation With the Task Wrench Setmentioning

confidence: 99%

“…This Task Wrench Set, T , depends on the various applications of the considered robot, which can be for example to move a camera or other sensors [7,6,9,3], manipulate payloads [15,1] or simulate walking sensations to a user immersed in virtual reality [21], just to name a few. The Available Wrench Set, A, is the set of wrenches that the mechanism can generate.…”

Section: Introduction and Problem Definitionmentioning

confidence: 99%