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2012
Conference Paper
Titel
Auto-calibration method for overconstrained cable-driven parallel robots
Abstract
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.