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Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors

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Latest Advances in Robot Kinematics

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Abstract

This paper presents an auto calibration method for overconstrained cable-driven parallel robots using internal position and force sensors. The consideration of cable forces is necessary in order to regard the cable elasticity. A calibration workflow is proposed and implemented including pose selection, measurement, and parameter adjustment. The calibration procedure is not limited to the geometrical parameters, but also allows to identify force related parameters such as the cable stiffness and platform mass. The calibration results are shown for an unknown parameter set and the influence of sensor noise on the calibration results is presented.

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Acknowledgements

This work was supported by the FhG Internal Programs under Grant No. WISA 823 244.

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Authors and Affiliations

  1. Fraunhofer IPA, 70569, Stuttgart, Germany

    Philipp Miermeister & Andreas Pott

Authors
  1. Philipp Miermeister
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  2. Andreas Pott
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Correspondence to Philipp Miermeister .

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Editors and Affiliations

  1. J. Stefan Institute, Jamova 39, Ljubljana-Vic-Rudnik, 1000, Slovenia

    Jadran Lenarcic

  2. Inst. Technische Mathematik, Geometrie und Bauinformatik, Universität Innsbruck, Technikerstr. 13, Innsbruck, 6020, Austria

    Manfred Husty

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© 2012 Springer Science+Business Media Dordrecht

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Miermeister, P., Pott, A. (2012). Auto Calibration Method for Cable-Driven Parallel Robots Using Force Sensors. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_34

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  • DOI: https://doi.org/10.1007/978-94-007-4620-6_34

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-4619-0

  • Online ISBN: 978-94-007-4620-6

  • eBook Packages: EngineeringEngineering (R0)

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