This paper presents the development of an active end effector for cable robots. Together with a laser tracker, it is possible to calibrate any cable robot. In this case, a planar cable robot with three degrees of freedom is used as a demonstrator. As part of the calibration, four winch positions are calculated. The task of the active end effector is to determine the translational and rotational degrees of freedom of the platform. For this purpose, Kalman filters are used. The pose of the platform is then used to determine the cable exit points with the help of a model-based approach in combination with optimization.


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    Title :

    Development of an Active End Effector for Cable Robot Calibration


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Cable-Driven Parallel Robots ; 2021 July 07, 2021 - July 09, 2021


    Published in:

    Cable-Driven Parallel Robots ; Chapter : 27 ; 336-347


    Publication date :

    2021-06-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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