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Auto-calibration method for overconstrained cable-driven parallel robots

: Miermeister, Philipp; Pott, Andreas; Verl, Alexander

Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Conference Paper
Fraunhofer IPA ()
Parallelroboter; Seilroboter; calibration; Automatische Justage; Roboter; Kalibrieren

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.