Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera

Boby, Riby Abraham; Малолетов, А. В.; Klimchik, Alexandr

doi:10.1007/s10846-021-01486-z

Cited by 5 publications

(1 citation statement)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Duan et al [16] employed a 6-DOF laser tracker, calibrated the benchmark positions, and measured the real-time position and orientation in motion control. Boby et al [7] measured the performance indicators of the cable-driven robot by using a monocular camera. The repeatability of the cable orientation was measured and the positioning error of the mechanism was determined.…”

Section: Static Errors Self-calibrationmentioning

confidence: 99%

Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer

Qian,

Jiang,

Qian

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

As rigid robots suffer from the higher inertia of their rigid links, cable-driven parallel robots (CDPRs) are more suitable for large-scale three-dimensional (3D) printing tasks due to their outstanding reconfigurability, high load-to-weight ratio, and extensive workspace. In this paper, a parallel 3D printing robot is proposed, comprising three pairs of driving cables to control the platform motion and three pairs of redundant cables to adjust the cable tension. To improve the motion accuracy of the moving platform, the static kinematic error model is established, and the error sensitivity coefficient is determined to reduce the dimensionality of the optimization function. Subsequently, the self-calibration positions are determined based on the maximum cable length error in the reachable workspace. A self-calibration method is proposed based on the genetic algorithm to solve the kinematic parameter deviations. Additionally, the dynamic errors are effectively reduced by compensating for the elastic deformation errors of the cable lengths. Furthermore, an experimental prototype is developed. The results of dynamic error compensation after the self-calibration indicate a 67.4% reduction in terms of the maximum error along the Z-axis direction. Finally, the developed prototype and proposed calibration and compensation methods are validated through the printing experiment.

show abstract

Section: Static Errors Self-calibrationmentioning

confidence: 99%

Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer

Qian,

Jiang,

Qian

et al. 2024

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

Combination of geometric and parametric approaches for kinematic identification of an industrial robot

Boby

Klimchik

2021

Robotics and Computer-Integrated Manufacturing

View full text Add to dashboard Cite

Error Compensation in Position and Orientation of Mobile Platform of Cable-Driven Robots via Tensile Forces Measurement

Марчук

Kalinin

Малолетов

2022

Mehatronika, avtomatizaciâ, upravlenie

View full text Add to dashboard Cite

The paper deals with a problem of position and orientation errors of mobile platform of large-sized parallel cabledriven robots. The advantages of parallel cable-driven robots are simplicity of structure and scalability. At the same time, parallel cable-driven robots are difficult to design due to the specific problems such as collision of cables, geometric and structural nonlinearity in the mathematical models of the main elements of the robot. In this paper, we consider the problem of eliminating the uncertainty associated with deformations of the elements of the robot structure. Such a configuration of the cable system is selected, in which the proximal anchor points of some cables can be considered without errors relatively to given positions. The cable system of a large-sized robot is mounted on the towers. The errors in the proximal anchor points relatively to given positions become significant due to the significant deformations of upper sections of the towers. The deformations of the towers in lower sections can be considered insignificant, and the proximal anchor points have to be located no higher than the middle of the tower to be considered corresponding to a given position. The aim is to compensate the position and orientation errors of the mobile platform of large-sized parallel cable-driven robot due to deformations of the cables and towers. The task suppose uncertainty about the coordinates of the proximal anchor points of the upper cables. Cable deformations are determined from Hooke’s law using tensile forces measurement in cables. The problem of compensations is solved in two stages. At the first stage, the approximate bias of the center of mass of the mobile platform along the vertical coordinate is found. It is defined as the height of the truncated pyramid, the edges of which are formed by stretched lower cables. At the second stage, rotation angles of the mobile platform are determined. Using the rotation matrix, biases in the heights of each distal anchor points are found in the tool coordinate system. In the studied cases PID regulation is used, however, more advanced techniques of automatic regulation, for example, optimal control, can provide better results. The tasks are applied to the model of large-sized symmetric parallel eight-cable-driven robot.

show abstract

Measurement of End-effector Pose Errors and the Cable Profile of Cable-Driven Robot using Monocular Camera

Cited by 5 publications

References 24 publications

Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer

Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer

Combination of geometric and parametric approaches for kinematic identification of an industrial robot

Error Compensation in Position and Orientation of Mobile Platform of Cable-Driven Robots via Tensile Forces Measurement

Contact Info

Product

Resources

About