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  4. Black-box accuracy compensation for a cable-driven parallel robot
 
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2017
Conference Paper
Title

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  
Mainwork
ICCAS 2017, 17th International Conference on Control, Automation and Systems. Proceedings  
Conference
International Conference on Control, Automation and Systems (ICCA) 2017  
Open Access
File(s)
Download (1.3 MB)
Rights
Use according to copyright law
DOI
10.24406/publica-r-400235
10.23919/ICCAS.2017.8204477
Language
English
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA  
Keyword(s)
  • cable-driven parallel robot

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