Auto-Calibration Method for Overconstrained Cable-Driven Parallel Robots
Conference: ROBOTIK 2012 - 7th German Conference on Robotics
05/21/2012 - 05/22/2012 at Munich, Germany
Proceedings: ROBOTIK 2012
Pages: 6Language: englishTyp: PDFPersonal VDE Members are entitled to a 10% discount on this title
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.