Auto-Calibration Method for Overconstrained Cable-Driven Parallel Robots

Konferenz: ROBOTIK 2012 - 7th German Conference on Robotics
21.05.2012-22.05.2012 in Munich, Germany

Tagungsband: ROBOTIK 2012

Seiten: 6Sprache: EnglischTyp: PDF

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Miermeister, Philipp; Pott, Andreas; Verl, Alexander (Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany)

This paper presents an auto-calibration method for overconstrained cable-driven parallel robots using internal position sensors located in the motors. A calibration workflow is proposed and implemented including pose selection, measurement, and parameter adjustment. The workflow is applied to a simulation model as well as an actual robot prototype which is currently operated at Fraunhofer IPA for research purposes. The calibration results are presented for a spatial cable robot with eight cables in the context of a typical use case scenario.