Fraunhofer-Gesellschaft

Publica

Hier finden Sie wissenschaftliche Publikationen aus den Fraunhofer-Instituten.

Black-box accuracy compensation for a cable-driven parallel robot

 
: Schmidt, Valentin; Kraus, Werner; Martin, Christoph; Jin, XueJun; Pott, Andreas

:
Postprint urn:nbn:de:0011-n-4904747 (1.2 MByte PDF)
MD5 Fingerprint: 408020469c9e3802f39973ad9ad8d64a
© IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Created on: 15.11.2019


Institute of Electrical and Electronics Engineers -IEEE-; Institute of Control, Robotics and Systems -ICROS-:
ICCAS 2017, 17th International Conference on Control, Automation and Systems. Proceedings : October 18-21, 2017, Ramada Plaza, Jeju, Korea
Piscataway, NJ: IEEE, 2017
ISBN: 978-89-93215-14-4
ISBN: 978-1-5386-1025-1
ISBN: 978-89-93215-13-7
pp.428-431
International Conference on Control, Automation and Systems (ICCA) <17, 2017, Jeju/Korea>
English
Conference Paper, Electronic Publication
Fraunhofer IPA ()
cable-driven parallel robot; Genauigkeitsteigerung; Seilroboter

Abstract
This paper presents the findings of experiments done to increase the accuracy of a fully constrained cable-driven parallel robot with 8 cables and 6 degrees of freedom. Measurements were conducted using a Laser Tracker in 3 dof and the position accuracy mapped. Measurements were performed in a grid with 1920 points. From the measurement data distortion to the actual desired position is measured and using a linear approximation subsequent trajectories are compensated for any systematic errors. On an example robot, this black box correction brought an average improvement from 10.6 mm distance to the desired point to 2.47 mm distance from the desired point. This is a significant improvement in accuracy.

: http://publica.fraunhofer.de/documents/N-490474.html