Abstract
This paper presents an algorithm for the forward kinematics and online self-calibration of cable-driven parallel robots. Covariance-based metrics known as the position dilution of precision (PDOP) and orientation dilution of precision (ODOP) are introduced as a means to quantify the quality of data collected with regards to self-calibration. These metrics enable systematic pruning of the data used for self-calibration and an assessment of when sufficiently rich data has been collected to perform self-calibration. The proposed algorithm is demonstrated through inverse-kinematics- and dynamics-based numerical simulations.
Original language | English (US) |
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Title of host publication | Cable-Driven Parallel Robots - Proceedings of the 6th International Conference on Cable-Driven Parallel Robots |
Editors | Stéphane Caro, Andreas Pott, Tobias Bruckmann |
Publisher | Springer Science and Business Media B.V. |
Pages | 369-380 |
Number of pages | 12 |
ISBN (Print) | 9783031323218 |
DOIs | |
State | Published - 2023 |
Event | 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 - Nantes, France Duration: Jun 25 2023 → Jun 28 2023 |
Publication series
Name | Mechanisms and Machine Science |
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Volume | 132 |
ISSN (Print) | 2211-0984 |
ISSN (Electronic) | 2211-0992 |
Conference
Conference | 6th International Conference on Cable-Driven Parallel Robots, CableCon 2023 |
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Country/Territory | France |
City | Nantes |
Period | 6/25/23 → 6/28/23 |
Bibliographical note
Publisher Copyright:© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.
Keywords
- Cable-driven parallel robots
- Calibration
- Forward kinematics
- Least-squares optimization
- Pose estimation