Abstract
A modular cable-driven robot consists of a number of consecutively connected cable-driven joint modules. It has the advantages of lightweight structure and compliant behavior so that it can perform intrinsically safe human–robot interactions. However, a modular cable-driven robot normally has a low positioning accuracy due to the manufacturing and assembly errors in each of the cable-driven joint modules. In this work, a self-calibration method is proposed for the 2-DOF cable-driven universal joint module by utilizing its actuation redundancy. Different from the conventional self-calibration method where the absolute cable lengths need to be measured, the proposed error model is formulated based on the relative lengths changes of the diving cables. The effectiveness of the self-calibration method is verified through computer simulations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Lafourcade, P., Llibre, M.: Design of a parallel wire-driven manipulator for wind tunnels. In: Proceedings Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, Canada
Kawamura, S., Choe, W., Tanaka, S.: Development of an ultrahigh speed robot FALCON using wire drive system. In: Proceedings IEEE International Conference on Robotics and Automation, Nagoya, Japan (1995)
Suzuki, Y., Kuwahara, H., Ohnishi, K.: Development and verification of tendon-driven rotary actuator for haptics with flexible actuators and a PE line. In: Proceedings IEEE International Workshop on Advanced Motion Control, Nagaoka, Japan (2010)
Chen, I.M., Yang, G.L., Tan, C.T., Yeo, S.H.: Local POE model for robot kinematic calibration. Mech. Mach. Theory 36(11–12), 1215–1239 (2001)
Yang, G., Chen, I., Yeo, S.H., Lim, W.K.: Simultaneous base and tool calibration for self-calibrated parallel robots. Robotica 20(04) (2002)
Tao, P.Y., Mustafa, K.S., Yang, G., Tomizuka, M.: Robot work cell calibration and error compensation. In: Handbook of Manufacturing Engineering and Technology. SpringerLink (2015)
Chen, Q., Chen, W., Yang, G., Liu, R.: An integrated two-level self-calibration method for a cable-driven humanoid arm. IEEE Trans. Autom. Sci. Eng. 10(2), 380–391 (2013)
Mustafa, S.K., Yang, G., Yeo, S.H., Lin, W.: Kinematic calibration of a 7-DOF self-calibrated modular cable-driven robotic arm. In: IEEE International Conference on Robotics and Automation ICRA, pp. 1288 (2008)
Jing, W., Tao, P.Y., Yang, G., Shimada, K.: Calibration of industry robots with consideration of loading effects using product-of-exponential and gaussian process. In: IEEE International Conference on Robotics and Automation, Stockholm, Sweden (2016)
Lau, D.: Initial length and pose calibration for cable-driven parallel robots with relative length feedback. In: Initial Length and Pose Calibration for Cable-Driven Parallel Robots with Relative Length Feedback, pp. 140–151 (2017)
Wang, H., Gao, T., Kinugawa, J., Kosuge, K.: Finding measurement configurations for accurate robot calibration: validation with a cable-driven robot. IEEE Trans. Rob. 33(5), 1156–1169 (2017)
Tao, P.Y, Mustafa, K.S. et al.: Robot Work Cell Calibration and Error Compensation. SpringerLink (2015)
Acknowledgements
This research is supported by National Natural Science Foundation of China (Project code: 51705510 and 51475448) and Pre-research Project of Equipment Development Department of PRC Central Military Commission (61409230101), and Qianjiang Talent Project (QJD1602033).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Zheng, T., Wang, Y., Yang, G., Shen, W., Fang, Z., Yang, K. (2020). Self-calibration Method for Two DOF Cable-Driven Joint Module. In: Jain, V., Patnaik, S., Popențiu Vlădicescu, F., Sethi, I. (eds) Recent Trends in Intelligent Computing, Communication and Devices. Advances in Intelligent Systems and Computing, vol 1006. Springer, Singapore. https://doi.org/10.1007/978-981-13-9406-5_118
Download citation
DOI: https://doi.org/10.1007/978-981-13-9406-5_118
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-9405-8
Online ISBN: 978-981-13-9406-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)