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Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming

Julien Alexandre Dit Sandretto 1 Gilles Trombettoni 2 David Daney 1 Gilles Chabert 3
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
2 COCONUT - Agents, Apprentissage, Contraintes
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
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https://hal.inria.fr/hal-00907499
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Julien Alexandre Dit Sandretto, Gilles Trombettoni, David Daney, Gilles Chabert. Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming. Federico Thomas; Alba Perez Gracia. Computational Kinematics, 15, Springer Netherlands, pp.209-217, 2014, Mechanisms and Machine Science, 978-94-007-7213-7. ⟨10.1007/978-94-007-7214-4_24⟩. ⟨hal-00907499⟩

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