@inproceedings{6b430ec0deb0472db016582d821e4a99,
title = "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.",
keywords = "Cable-driven robots, Calibration, Interval analysis",
author = "\{Dit Sandretto\}, \{Julien Alexandre\} and Gilles Trombettoni and David Daney and Gilles Chabert",
year = "2014",
month = jan,
day = "1",
doi = "10.1007/978-94-007-7214-4\_24",
language = "English",
isbn = "9789400772137",
series = "Mechanisms and Machine Science",
publisher = "Kluwer Academic Publishers",
pages = "209--217",
booktitle = "Computational Kinematics - Proceedings of the 6th International Workshop on Computational Kinematics, CK 2013",
note = "6th International Workshop on Computational Kinematics, CK 2013 ; Conference date: 12-05-2013 Through 15-05-2013",
}