Abstract
A calibration process simulation for the interest variable values, including Cartesian coordinates of exit points, moving platform poses and initial cable lengths is performed. The simulation considers the modelling of the pulleys at exit points, and is carried out using nonlinear least square method. The effects of calibration tuning parameters and of measurement pose number on calibration quality are analyzed. As a result, the calibration quality increases with the decrease of tuning parameters and the increase of measurement pose number. The use of Jacobian matrix of the interest function \(f_{i,j}\) also leads to a better calibration quality.
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This work was supported by the ANR CRAFT project, grant ANR- 18-CE10-0004, https://anr.fr/Project-ANR-18-CE10-0004
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Wang, B., Caro, S. (2021). Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robots. In: Zeghloul, S., Laribi, M.A., Arsicault, M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_10
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DOI: https://doi.org/10.1007/978-3-030-75271-2_10
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