Initial-Pose Self-Calibration for Redundant Cable-Driven Parallel Robot Using Force Sensors Under Hybrid Joint-Space Control

Liu, Zhen; Qin, Zhiwei; Gao, Haibo; Sun, Guangming; Huang, Zhongshan; Deng, Zongquan

doi:10.1109/lra.2023.3238178

Cited by 3 publications

(2 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…), but their use on a miniaturised scale and in under-sensitive systems is very limited [5,19]. Recently, redundant cable-driven parallel robots (CDPRs) have been used not only for actuation but also for force distribution sensitivity [5,[19][20][21][22][23][24][25], applied in many domains such as rehabilitation [26], and defining cable tension sensitivity analysis for macroscopic applications, such as maintaining a camera in suspension for a football match [27]. Cable-driven systems are also used to achieve maximum workspace and isotropic force exertion, such as shown in [28].…”

Section: Introductionmentioning

confidence: 99%

A Planar Cable-Driven Under-Sensing Model to Measure Forces and Displacements

Muscolo,

Fiorini

2024

Machines

View full text Add to dashboard Cite

This paper presents a planar cable-driven model of a simple mechanism that is able to measure forces and displacements. Recently, a preliminary study based on a cable-driven sensitive mechanism was presented to the research community, underlining the innovative characteristics of the model in under-actuation and under-sensing. The core of the research work was to conceive a compliant system able to measure forces and displacements from a point located in a different zone with respect to the one where the force is applied, and this is possible thanks to cable-driven systems. In this paper, a new simplified model with respect to our published work is presented, reducing the number of cables and including the calculation of friction in the developed test bench. The formulation to calculate the displacement of the point of the applied force and the formulation to calculate the force are presented and validated with a simulation and by using a real test bench for experimentation. A multi-body system is used for the simulation, and the results are compared and discussed. Four cases are analysed to test the formulation, including the friction in pulleys and in the joint connection between the mobile part and the fixed part of the mechanism. Future works will be oriented toward reducing the dimensions of the conceived mechanism in order to implement the model in minimally invasive robotic surgery instruments.

show abstract

Section: Introductionmentioning

confidence: 99%

A Planar Cable-Driven Under-Sensing Model to Measure Forces and Displacements

Muscolo,

Fiorini

2024

Machines

View full text Add to dashboard Cite

show abstract

“…Currently, the CDPR is composed of two modules with separate functions: the mainframe and the moving platform. Although the moving platform is lightweight and can achieve high-speed movement, the inflexible setting of the main frame limits the application scenarios of CDPRs [5]. Every time the robot is reassembled, a frame needs to be built, which is time-consuming and labor-intensive, especially for a large-scale CDPR.…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, Self-Calibration and Grasping Method for Modular Cable-Driven Parallel Robots

Guo,

Chen,

Han

et al. 2024

Preprint

View full text Add to dashboard Cite

Compared with traditional rigid serial robots, cable-driven parallel robots (CDPRs) have the advantages of simple structure, lightweight, large workspace, strong flexibility, fast reconstruction speed, and low construction cost. However, there are still many problems in the optimal design of the mechanism, system calibration, and trajectory planning of the CDPR. Based on these, a modular cable-driven parallel robot (MCDPR) is designed and the nonlinear kinematic modeling, system self-calibration, and grasping planning methods are proposed. Firstly, according to the application requirements of MCDPRs in large space scenarios, the design indicators and performance requirements of MCDPRs are analyzed and an MCDPR is designed. Secondly, the "motor-cable-end" multi-layer kinematic equations of the MCDPR are derived. Further, the system is calibrated using a vision sensor before the motion of the mobile platform. A vision-based self-calibration method for mechanism parameters of the MCDPR is proposed to reduce the number of calibrations during robot operation. Thirdly, a grasping planning method based on visual measurement is proposed for autonomous object grasping. Finally, a software/hardware combination MCDPR experimental prototype with encoders and tension sensors is built to verify the above-designed prototype and the proposed methods. Kinematic model calibration experiments, system self-calibration experiments, and object grasping control experiments are carried out. The simulation based on the CopperliaSim software and practical experiments prove the effectiveness of the designed structure and the proposed method.

show abstract