On the automatic calibration of redundantly actuated cable-driven parallel robots

  • Han YuanEmail author
  • Yongqing Zhang
  • Wenfu Xu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)


Calibration is vital to improve robot accuracy. Automatic calibrations that require no extra devices have lots of conveniences, which is especially significant for cable-driven parallel robots that usually have the reconfigurable ability. This paper proposes a new automatic calibration method that is applicable for a general kind of redundantly actuated cable-driven parallel robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors, and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by 4 cables for validation. Results show the proposed calibration method could precisely find the real coordinate values of the attachment points, errors less than 10−12 mm. Trajectory simulations also indicate that the positioning accuracy of the CDPR could be greatly improved after calibration using the proposed method.


self-calibration redundantly actuation parallel robots cable robots 


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The authors would like to thank the National Natural Science Foundation of China (Grant No. 61803125), the Natural Science Foundation of Guangdong Province China (Grant No.2018A030313247), and the Science and Technology Innovation Committee of Shenzhen (grant number JCYJ20170811155308246 and JSGG20170413164102635) for their financial supports on this work.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen)ShenzhenP.R. China
  2. 2.The State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinP.R. China

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