Calibration of a Fully-Constrained Parallel Cable-Driven Robot

  • Julien Alexandre dit Sandretto
  • David Daney
  • Marc Gouttefarde
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)


An identification of the model parameters for a parallel cable-driven robot (8 cables for 6 degrees of freedom) is performed by using both a calibration and a self-calibration approach. Additionally, advanced tools and algorithmic improvements are presented to perform the parameter identification. A complete experimentation validates the robot accuracy improvement.


Mobile Platform Parallel Robot Laser Tracker Cable Length External Measure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Julien Alexandre dit Sandretto
    • 1
  • David Daney
    • 1
  • Marc Gouttefarde
    • 2
  1. 1.COPRIN INRIASophia AntipolisFrance
  2. 2.LIRMM INRIASophia AntipolisFrance

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