Calibration of a Fully-Constrained Parallel Cable-Driven Robot

Julien Alexandre dit Sandretto; David Daney; Marc Gouttefarde

doi:10.1007/978-3-7091-1379-0_10

Calibration of a Fully-Constrained Parallel Cable-Driven Robot

Julien Alexandre dit Sandretto, David Daney, Marc Gouttefarde

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

Abstract

An identification of the model parameters for a parallel cable-driven robot (8 cables for 6 degrees of freedom) is performed by using both a calibration and a self-calibration approach. Additionally, advanced tools and algorithmic improvements are presented to perform the parameter identification. A complete experimentation validates the robot accuracy improvement.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	77-84
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-7091-1379-0_10
Publication status	Published - 1 Jan 2013
Externally published	Yes

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	544
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Cable Length
External Measure
Laser Tracker
Mobile Platform
Parallel Robot

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10.1007/978-3-7091-1379-0_10

Cite this

dit Sandretto, J. A., Daney, D., & Gouttefarde, M. (2013). Calibration of a Fully-Constrained Parallel Cable-Driven Robot. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 77-84). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544). Springer International Publishing. https://doi.org/10.1007/978-3-7091-1379-0_10

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Calibration of a Fully-Constrained Parallel Cable-Driven Robot. / dit Sandretto, Julien Alexandre; Daney, David; Gouttefarde, Marc.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2013. p. 77-84 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

TY - CHAP

T1 - Calibration of a Fully-Constrained Parallel Cable-Driven Robot

AU - dit Sandretto, Julien Alexandre

AU - Daney, David

AU - Gouttefarde, Marc

PY - 2013/1/1

Y1 - 2013/1/1

N2 - An identification of the model parameters for a parallel cable-driven robot (8 cables for 6 degrees of freedom) is performed by using both a calibration and a self-calibration approach. Additionally, advanced tools and algorithmic improvements are presented to perform the parameter identification. A complete experimentation validates the robot accuracy improvement.

AB - An identification of the model parameters for a parallel cable-driven robot (8 cables for 6 degrees of freedom) is performed by using both a calibration and a self-calibration approach. Additionally, advanced tools and algorithmic improvements are presented to perform the parameter identification. A complete experimentation validates the robot accuracy improvement.

KW - Cable Length

KW - External Measure

KW - Laser Tracker

KW - Mobile Platform

KW - Parallel Robot

U2 - 10.1007/978-3-7091-1379-0_10

DO - 10.1007/978-3-7091-1379-0_10

M3 - Chapter

AN - SCOPUS:85025804783

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 77

EP - 84

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer International Publishing

ER -

Calibration of a Fully-Constrained Parallel Cable-Driven Robot

Abstract

Publication series

Keywords

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