Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming

Sandretto, Julien Alexandre Dit; Trombettoni, Gilles; Daney, David; Chabert, Gilles

doi:10.1007/978-94-007-7214-4_24

Cited by 18 publications

(13 citation statements)

References 10 publications

(14 reference statements)

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“…It appears that the effect of geometrical errors onto the static deflection of the moving-platform is significant too. Some calibration [19,20] and self-calibration [21,22] approaches were proposed to enhance the CDPR performances. More efficient strategies for CDPR calibration will be performed while considering more sources of errors in a future work.…”

Section: Resultsmentioning

confidence: 99%

Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots

Baklouti

Caro

Courteille

2017

Mechanisms and Machine Science

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This paper deals with the sensitivity analysis of the elasto-geometrical model of Cable-Driven Parallel Robots (CDPRs) to their geometric and mechanical uncertainties. This sensitivity analysis is crucial in order to come up with a robust model-based control of CDPRs. Here, 62 geometrical and mechanical error sources are considered to investigate their effect onto the static deflection of the movingplatform (MP) under an external load. A reconfigurable CDPR, named``CAROCA´´, is analyzed as a case of study to highlight the main uncertainties affecting the static deflection of its MP.

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Section: Resultsmentioning

confidence: 99%

Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots

Baklouti

Caro

Courteille

2017

Mechanisms and Machine Science

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“…It is used for robust bounded-error estimation [6], for localization [21], for probabilistic estimation [18] or for certified calibration of robots [9]. Theorem 1.…”

Section: Pavermentioning

confidence: 99%

Introduction to the algebra of separators with application to path planning

Jaulin

Desrochers

2014

Engineering Applications of Artificial Intelligence

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Contractor algebra is a numerical tool based on interval analysis which makes it possible to solve many nonlinear problems arising in robotics, such as identification, path planning or robust control. This paper presents the new notion of separators which is a pair of complementary contractors and presents the corresponding algebra. Using the separator algebra inside a paver will allow us to get an inner and an outer approximation of the solution set in a much simpler way than using any other interval approach. A path planning problem will then be considered in order to illustrate the principle of the approach.

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“…Xuechao Duan et al used a triple-level spatial positioner to obtain measuring data for calibration [15]. An interval-based approach has been reported in [21], and measurements were achieved according to external equipment similarly. There are also some auto-/self-calibration method that have been proposed.…”

Section: Introductionmentioning

confidence: 99%

“…However, most of them need to be done with external measuring equipment, like laser trackers, inclinometers, spatial positioners, etc. [14,15,21]. For some self-calibration methods [17,19], they are only proposed for some specific mechanism CDPRs, such as 6-DOF CDPRs driven by eight or seven cables.…”

Section: Introductionmentioning

confidence: 99%

A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

et al. 2019

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Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human–robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than 10 − 12 mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.

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Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming

Cited by 18 publications

References 10 publications

Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots

Sensitivity Analysis of the Elasto-Geometrical Model of Cable-Driven Parallel Robots

Introduction to the algebra of separators with application to path planning

A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

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