Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

Jin, Xuejun; Jung, Jin‐Woo; Ko, Seong Young; Kim, Hyungwoo; Park, Jong-Oh; Kim, Chang‐Sei

doi:10.3390/s18072392

Cited by 30 publications

(10 citation statements)

References 20 publications

(28 reference statements)

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“…In the future work, the additional advanced control algorithm for CDPR will be incorporated to improve the accuracy of the proposed system by less than 1%, such as geometric parameter calibration and control mechanism [ 45 , 46 , 47 , 48 ]. The location of CDPR was validated in a 1% error by NDI Spectra, and then the accuracy of HES position estimation methodology was evaluated.…”

Section: Discussionmentioning

confidence: 99%

Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope

Kim

Kim²,

Park

et al. 2020

Sensors

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Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine is still challenging owing to the limitation of capsule size, relatively large diagnostic volume, and compatibility of other devices in clinical site. To address this issue, we present a novel robotic localization sensing methodology based on the kinematics of a planar cable driven parallel robot (CDPR) and measurements of the quasistatic magnetic field of a Hall effect sensor (HES) array. The arrangement of HES and the Levenberg-Marquardt (LM) algorithm are applied to estimate the position of the permanent magnet (PM) in the CE, and the planar CDPR is incorporated to follow the PM in the CE. By tracking control of the planar CDPR, the position of PM in any arbitrary position can be obtained through robot forward kinematics with respect to the global coordinates at the bedside. The experimental results show that the root mean square error (RMSE) for the estimated position value of PM was less than 1.13 mm in the X, Y, and Z directions and less than 1.14° in the θ and φ orientation, where the sensing space could be extended to ±70 mm for the given 34 × 34 mm2 HES array and the average moving distance in the Z-direction is 40 ± 2.42 mm. The proposed method of the robotic sensing with HES and CDPR may advance the sensing space expansion technology by utilizing the provided single sensor module of limited sensible volume.

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Section: Discussionmentioning

confidence: 99%

Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope

Kim

Kim²,

Park

et al. 2020

Sensors

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“…It is a type of fully-constrained 6-DOF CDPR, which is actuated by eight polyethylene Dyneema ® cables (LIROS D-Pro 01505-0200, 2 mm). The robot uses industrial servo drives and controllers as hardware, and TwinCAT3 is used as the real-time control software [29]. The size of the fixed frame is 1.10 m × 0.80 m × 0.95 m, and the mass of the end-effector is 1.42 kg.…”

Section: Cdpr Systemmentioning

confidence: 99%

Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

Piao

Kim

Choi

et al. 2019

Sensors

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In a cable-driven parallel robot (CDPR), force sensors are utilized at each winch motor to measure the cable tension in order to obtain the force distribution at the robot end-effector. However, because of the effects of friction in the pulleys and the unmodeled cable properties of the robot, the measured cable tensions are often inaccurate, which causes force-control difficulties. To overcome this issue, this paper presents an artificial neural network (ANN)-based indirect end-effector force-estimation method, and its application to CDPR force control. The pulley friction and other unmodeled effects are considered as black-box uncertainties, and the tension at the end-effector is estimated by compensating for these uncertainties using an ANN that is developed using the training datasets from CDPR experiments. The estimated cable tensions at the end-effector are used to design a P-controller to track the desired force. The performance of the proposed ANN model is verified through comparisons with the forces measured directly at the end-effector. Furthermore, cable force control is implemented based on the compensated tensions to evaluate the performance of the CDPR in wrench space. The experimental results show that the proposed friction-compensation method is suitable for application in CDPRs to control the cable force.

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“…Cable-driven parallel robots (CDPRs) are a relatively new type of robot that uses cables to realize the pose control of the motion platform [5]. Since they have advantages of a large workspace, simple structure and low cost, CDPRs are widely used in aerospace, medical and marine fields [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Robust Adaptive Sliding Mode Controller for Marine Cable-Driven Parallel Derusting Robot

Chen

Wang

et al. 2022

Applied Sciences

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Ship derusting has the characteristics of a complex operation environment, high labor intensity and low efficiency. In order to better cope with this situation, a new type of cable-driven parallel derusting robot (CDPDR) is proposed in this article. To improve the positioning accuracy and anti-interference capacity of the motion platform where the end effector is mounted, the system’s dynamic model, considering wave excitation, is established. Further, the controllable workspace and cable tension optimization algorithm are studied. In addition, a fast non-singular terminal sliding-mode controller is designed. Meanwhile, the adaptive technique is used to estimate the disturbance upper bound. Then, the Lyapunov theory is applied to prove the stability of the system. Finally, the performance of the controller is verified by high-fidelity simulations in two different scenarios. The results show that the proposed controller can converge in finite time and maintain small error under multiple external disturbances. The relevant research in this article can provide theoretical guidance for the application of CDPDRs on ships.

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Geometric Parameter Calibration for a Cable-Driven Parallel Robot Based on a Single One-Dimensional Laser Distance Sensor Measurement and Experimental Modeling

Cited by 30 publications

References 20 publications

Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope

Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope

Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

Dynamic Modeling and Robust Adaptive Sliding Mode Controller for Marine Cable-Driven Parallel Derusting Robot

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