Abstract
Underactuated cable-driven parallel robots (UACDPRs) displace a 6-degree-of-freedom end-effector (EE) with less than 6 cables. As a consequence, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained from geometrical constraint equations only. In this paper, we study the performance of a direct-kinematics algorithm using redundant sensor measurements for a 4-cable UACDPR. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. A methodology for the computation of the sensitivity of the direct-kinematics solution to measurement errors is finally proposed.
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14 September 2022
For chapter 15
In the original version of the book, the following correction has been updated: In Chapter 15, one of the author’s names has been changed from “Edoardo Id” to “Edoardo Idà”. The book and the chapter have been updated with the change.
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Gabaldo, S., Idà, E., Carricato, M. (2022). Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_15
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