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Towards a Precise Cable-Driven Parallel Robot - A Model-Driven Parameter Identification Enhanced by Data-Driven Position Correction

  • Marcus HamannEmail author
  • Pauline Marie Nüsse
  • David Winter
  • Christoph Ament
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

The objective of this work is to improve an existing model-driven method for the identification of geometric parameters of a reconfigurable parallel 3-DoF cable robot. Therefore, a procedure based on radial basis functions (RBFs) is introduced and presented. The required measurement is performed with the help of a laser tracker.

Keywords

cable-driven parallel robot identification radial basis functions 

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References

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Marcus Hamann
    • 1
    Email author
  • Pauline Marie Nüsse
    • 1
  • David Winter
    • 1
  • Christoph Ament
    • 1
  1. 1.University of AugsburgAugsburgGermany

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