• English
  • Deutsch
  • Log In
    Password Login
    or
  • Research Outputs
  • Projects
  • Researchers
  • Institutes
  • Statistics
Repository logo
Fraunhofer-Gesellschaft
  1. Home
  2. Fraunhofer-Gesellschaft
  3. Konferenzschrift
  4. Black-box accuracy compensation for a cable-driven parallel robot
 
  • Details
  • Full
Options
2017
Conference Paper
Titel

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

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.
Author(s)
Schmidt, Valentin
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Kraus, Werner
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Martin, Christoph
Jin, XueJun
Chonnam National University
Pott, Andreas
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Hauptwerk
ICCAS 2017, 17th International Conference on Control, Automation and Systems. Proceedings
Konferenz
International Conference on Control, Automation and Systems (ICCA) 2017
DOI
10.23919/ICCAS.2017.8204477
File(s)
N-490474.pdf (1.3 MB)
Language
English
google-scholar
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Tags
  • cable-driven parallel robot

  • Genauigkeitsteigerung

  • Seilroboter

  • Cookie settings
  • Imprint
  • Privacy policy
  • Api
  • Send Feedback
© 2022