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Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming
Abstract : In this paper, an interval based approach is proposed to rigorously identify the model parameters of a parallel cable-driven robot. The studied manipulator follows a parallel architecture having 8 cables to control the 6 DOFs of its mobile platform. This robot is complex to model, mainly due to the cable behavior. To simplify it, some hypotheses on cable properties (no mass and no elasticity) are done.An interval approach can take into account the maximal error between this model and the real one. This allows us to work with a simplified although guaranteed interval model. In addition, a specific interval operator makes it possible to manage outliers. A complete experiment validates our method for robot parameter certified identification and leads to interesting observations.
Cited literature [13 references]
https://hal.inria.fr/hal-00907499
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Tuesday, February 14, 2017 - 4:14:20 PM
Last modification on : Friday, October 22, 2021 - 3:07:33 PM
Long-term archiving on: : Monday, May 15, 2017 - 6:10:39 PM
Contributor : David Daney Connect in order to contact the contributor
Submitted on : Tuesday, February 14, 2017 - 4:14:20 PM
Last modification on : Friday, October 22, 2021 - 3:07:33 PM
Long-term archiving on: : Monday, May 15, 2017 - 6:10:39 PM
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