Auto calibration method for cable-driven parallel robots using force sensors

This paper presents an auto calibration method for overconstrained cable-driven parallel robots using internal position and force sensors. The consideration of cable forces is necessary in order to regard the cable elasticity. A calibration workflow is proposed and implemented including pose selection, measurement, and parameter adjustment. The calibration procedure is not limited to the geometrical parameters, but also allows to identify force related parameters such as the cable stiffness and platform mass. The calibration results are shown for an unknown parameter set and the influence of sensor noise on the calibration results is presented.