Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots

Nicolas Tremblay 1 Kaveh Kamali 2 Philippe Cardou 1 Christian Desrosiers 2 Marc Gouttefarde 3 Martin J.-D. Otis 4
1 Laval University [Québec]
2 ETS - Ecole de Technologie Supérieure [Montréal]
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
4 UQAC - Université du Québec à Chicoutimi
Abstract : Estimating the geometric parameters of a cable-driven parallel robot (CDPR) can be a labour intensive process or one that requires expensive sensors. This paper presents a low-cost method for estimating initial cable lengths and fixed cable attachment points of CDPRs. The proposed approach relies on the detection, mapping and localisation of fiduciary markers in the robot environment using a camera attached to the end effector. This paper additionally tackles the generation of a list of reachable calibration poses and presents a control scheme allowing the CDPR to reach those. Experiments are also carried out to assess the performance of the proposed calibration method. It appears that the proposed eye-on-hand method is more accurate than a previously reported method relying solely on cable-length measurements.
Keywords : Cable-driven parallel robot Parameter identification Experimental testing Vision-based calibration
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02309386
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Submitted on : Thursday, October 10, 2019 - 6:18:38 PM
Last modification on : Friday, October 11, 2019 - 9:21:53 AM

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Nicolas Tremblay, Kaveh Kamali, Philippe Cardou, Christian Desrosiers, Marc Gouttefarde, et al.. Eye-on-Hand Calibration Method for Cable-Driven Parallel Robots. CableCon: Cable-Driven Parallel Robots, Jun 2019, Krakow, Poland. pp.345-356, ⟨10.1007/978-3-030-20751-9_29⟩. ⟨lirmm-02309386⟩

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