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Wire-driven Parallel Robot: Open Issues Read chapter Read first chapter

2013 | OriginalPaper | Chapter

Calibration of a Fully-Constrained Parallel Cable-Driven Robot

Authors : Julien Alexandre dit Sandretto, David Daney, Marc Gouttefarde

Published in: Romansy 19 – Robot Design, Dynamics and Control

Publisher: Springer Vienna

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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.

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previous chapter A Low Energy Consumption Solar Tracker Based in Parallel Kinematics
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Metadata
Title
Calibration of a Fully-Constrained Parallel Cable-Driven Robot
Authors
Julien Alexandre dit Sandretto
David Daney
Marc Gouttefarde
Copyright Year
2013
Publisher
Springer Vienna
Book
Romansy 19 – Robot Design, Dynamics and Control

Print ISBN: 978-3-7091-1378-3

Electronic ISBN: 978-3-7091-1379-0

Copyright Year: 2013

DOI
https://doi.org/10.1007/978-3-7091-1379-0_10