Initial-pose Self-Calibration for Redundant Cable-Driven Parallel Robot using Force Sensors under Hybrid Joint-space Control

This paper investigates initial-pose estimation (Cartesian position and orientation) for redundant cable-driven parallel robots (CDPRs). As the forward kinematics cannot be performed if the robot is equipped with incremental sensors, a calibration method using force sensors is proposed. The self-cal...

Full description

Saved in:
Bibliographic Details
Published in:IEEE robotics and automation letters 2023-03, Vol.8 (3), p.1-7
Main Authors: Liu, Zhen, Qin, Zhiwei, Gao, Haibo, Sun, Guangyao, Huang, Zhongshan, Deng, Zongquan
Format: Article
Language:English
Subjects:
Cables
Calibration
Calibration and Identification
Cartesian coordinates
End effectors
Force
Force sensors
Kinematics
Optimization
Parallel robots
Performance indices
Pose estimation
Power cables
Redundancy
Robots
Self calibration
Sensors
Tension/Wire Mechanism
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper investigates initial-pose estimation (Cartesian position and orientation) for redundant cable-driven parallel robots (CDPRs). As the forward kinematics cannot be performed if the robot is equipped with incremental sensors, a calibration method using force sensors is proposed. The self-calibration problem is formulated as a non-linear least-squares optimization problem based on the hybrid joint-space control strategy. The redundant cables are tension-controlled; the other cables are maintained at a fixed length in the joint space. A position-determined cable adjustable force (P-CAF) performance index and the concept of calibratable space were proposed to maintain the quasi-static conditions. A simulated case study was used to validate the calibration process.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3238178