Improving cable driven parallel robot accuracy through angular position sensors

Authors: Fortin-Côté, AlexisCardou, PhilippeCampeau-Lecours, Alexandre
Abstract: Conventionally, a cable driven parallel mechanism (CDPM) pose is obtained through the forward kinematics from measurements of the cable lengths. However, this estimation method can be limiting for some applications requiring more precision. This paper proposes to use cable angle position sensors in addition to cable length measurements in order to improve the accuracy of such mechanisms. The robot pose is first obtained individually by the cable length measurements and the cable angle position measurements. A data fusion scheme combining these two types of measurements is then proposed in order to improve the CPDM accuracy. Finally, simulations and experiments are presented in order to assess the benefits of using cable angle position sensors on the CDPM.
Document Type: Actes de conférence
Issue Date: 27 October 2016
Open Access Date: 12 November 2018
Document version: AM
Permalink: http://hdl.handle.net/20.500.11794/32326
This document was published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
http://dx.doi.org/10.1109/IROS.2016.7759640
Institute of Electrical and Electronics Engineers
Alternative version: 10.1109/IROS.2016.7759640
Collection:Autres articles publiés

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