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The Forward Kinematics of Cable-Driven Parallel Robots with Sagging Cables Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Experimental Determination of the Accuracy of a Three-Dof Cable-Suspended Parallel Robot Performing Dynamic Trajectories

Authors : Clément Gosselin, Simon Foucault

Published in: Cable-Driven Parallel Robots

Publisher: Springer International Publishing

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Abstract

The experimental determination of the accuracy of a three-degree-of-freedom (three-dof) spatial cable-suspended parallel robot is addressed in this paper. The concept of the dynamic trajectory planning of a three-dof spatial cable-suspended parallel robot is first briefly recalled. Then, periodic trajectories are planned and an external three-dimensional measurement system is used to determine the actual trajectory of the end-effector. Linear regression is used to fit the measured trajectory with the planned trajectory and eliminate the bias error. The accuracy of the trajectories is then assessed.

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previous chapter Presentation of Experimental Results on Stability of a 3 DOF 4-Cable-Driven Parallel Robot Without Constraints
next chapter Efficient Calibration of Cable-Driven Parallel Robots with Variable Structure
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Metadata
Title
Experimental Determination of the Accuracy of a Three-Dof Cable-Suspended Parallel Robot Performing Dynamic Trajectories
Authors
Clément Gosselin
Simon Foucault
Copyright Year
2015
Book
Cable-Driven Parallel Robots

Print ISBN: 978-3-319-09488-5

Electronic ISBN: 978-3-319-09489-2

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-09489-2_8