Abstract
Underactuated cable-driven parallel robots (UACDPRs) use fewer cables than the end-effector (EE) degrees of freedom to control their motion. Depending on the sensors installed on the robot, the initial pose of the EE may not be known at startup, and determining it is essential for subsequent operations. This paper presents a rapidly executable self-calibration procedure for estimating the initial pose of a UACDPR. The procedure employs a nonlinear weighted least square optimization, whose tentative solution is also optimized for rapid global convergence. Experiments on a 4-cable UACDPR demonstrates the procedure.
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Notes
- 1.
for a detailed description of \(\textbf{W}\) please refer to the covariance matrix described in [9].
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Acknowledgments
This study was carried out within the MICS (Made in Italy – Circular and Sustainable) Extended Partnership and received funding from the European Union Next-GenerationEU (PIANO NAZIONALE DI RIPRESA E RESILIENZA (PNRR) – MISSIONE 4 COMPONENTE 2, INVESTIMENTO 1.3 – D.D. 1551.11-10-2022, PE00000004). This manuscript reflects only the authors’ views and opinions, neither the European Union nor the European Commission can be considered responsible for them.
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Zoffoli, F., Coccia, V., Idà, E., Carricato, M. (2024). A Rapid Initial-Pose Self-calibration Method for Underactuated Cable-Driven Parallel Robots. In: Quaglia, G., Boschetti, G., Carbone, G. (eds) Advances in Italian Mechanism Science. IFToMM Italy 2024. Mechanisms and Machine Science, vol 163. Springer, Cham. https://doi.org/10.1007/978-3-031-64553-2_43
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