Miermeister, PhilippPhilippMiermeisterPott, AndreasAndreasPottVerl, AlexanderAlexanderVerl2022-03-112022-03-112012https://publica.fraunhofer.de/handle/publica/375931This 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.enParallelroboterSeilrobotercalibrationAutomatische JustageRoboterKalibrierenconference paper