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Calibration for a Planar Cable-Driven Parallel Robot
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 Title & Authors
Calibration for a Planar Cable-Driven Parallel Robot
Jin, Xuejun; Jung, Jinwoo; Jun, Jong Pyo; Park, Sukho; Park, Jong-Oh; Ko, Seong Young;
 
 Abstract
This paper proposes a calibration algorithm for a three-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). To evaluate the proposed algorithm, we calibrated winches and an optical tracking sensor, measured the end-effector pose using the optical tracking sensor, and calculated the accurate robot configuration using the measurement information. To conduct an accuracy test on the end-effector pose, we followed guidelines from "Manipulating industrial robots - Performance criteria and related test methods." Through the test, it is verified that the position accuracy can be improved by up to 20% for a -sized planar cable robot using the proposed calibration algorithm.
 Keywords
cable-driven parallel robot;calibration;KS B ISO 9283;
 Language
Korean
 Cited by
 References
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