Paper Info
Title
Measurement Of End-Effector Pose Errors And The Cable Profile Of Cable-Driven Robot Using Monocular Camera
Abstract
Measurement of performance metrics namely repeatability and directional accuracy of an under-actuated cable-driven robot using a monocular camera is proposed. Experiments were conducted on a cable-driven robot used for construction and the results are compared with that from a laser tracker. Least value of about 18 mm was observed at the middle of the workspace and it agreed with the measurement from laser tracker. Using the proposed method it was also possible to measure orientation repeatability considering the end-effector coordinate system as the reference, which is an advantage over using a laser tracker. Since the robot workspace is very large and there are restrictions on feasible measurement volume while using a camera, a method to determine suitable locations of the camera to enable measurement in all of the workspace is also proposed. Results of this analysis show that the camera may be positioned at four feasible regions during measurement over the whole workspace. Finally, a method for measurement of cable profile is also proposed. The position and slope of the cable at two locations were measured using a camera. This was utilized to fit a catenary model such that profile of the cable between these points can be determined. Experiments conducted to determine the cable profile in different regions of workspace showed that there is comparatively greater sagging at the periphery of the workspace which explains the higher positioning errors in the same region.
Year
DOI
Venue
2021
10.1007/s10846-021-01486-z
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Keywords
DocType
Volume
Robot vision systems, Cable-driven robot, Cable modeling, Performance measurement, Repeatability, Accuracy
Journal
103
Issue
ISSN
Citations 
2
0921-0296
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Riby Abraham Boby100.34
Alexander Maloletov200.34
Alexandr Klimchik310023.76