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Automatic Self-Calibration of Suspended Under-Actuated Cable-Driven Parallel Robot using Incremental Measurements

Abstract : This paper focuses on the problem of the initial-pose estimation by means of proprioceptive sensors (self-calibration) of suspended under-actuated Cable-Driven Parallel Robots (CDPRs). For this class of manipulators, the initial-pose estimation cannot be carried out by means of forward kinematics only, but mechanical equilibrium conditions must be considered as well. In addition , forward kinematics solution is based on cable-length measurements, but if the robot is equipped with incremental sensors cables' initial values are unknown. In this paper, the self-calibration problem is formulated as a non-linear least square optimization problem (NLLS), based on the direct geometrico-static problem, where only incremental measurements on cable lengths and on swivel pulley angles are required. In addition, a data acquisition algorithm and an initial value selection procedure for the NLLS are proposed, aiming at automatizing the self-calibration procedure. Simulations and experimental results on a 3-cable 6-degree-of-freedom robot are provided so as to prove the effectiveness of the proposed methodology.
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https://hal.inria.fr/hal-02430605
Contributor : Jean-Pierre Merlet <>
Submitted on : Tuesday, January 7, 2020 - 2:12:47 PM
Last modification on : Tuesday, January 21, 2020 - 10:23:46 AM

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Edoardo Idá, Jean-Pierre Merlet, Marco Carricato. Automatic Self-Calibration of Suspended Under-Actuated Cable-Driven Parallel Robot using Incremental Measurements. CableCon 2019 - 4th International Conference on Cable-Driven Parallel Robots, Jun 2019, Cracow, Poland. ⟨hal-02430605⟩

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