Abstract
The experimental determination of the accuracy of a three-degree-of-freedom (three-dof) spatial cable-suspended parallel robot is addressed in this paper. The concept of the dynamic trajectory planning of a three-dof spatial cable-suspended parallel robot is first briefly recalled. Then, periodic trajectories are planned and an external three-dimensional measurement system is used to determine the actual trajectory of the end-effector. Linear regression is used to fit the measured trajectory with the planned trajectory and eliminate the bias error. The accuracy of the trajectories is then assessed.
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Acknowledgments
This work was supported by The Natural Sciences and Engineering Research Council of Canada (NSERC), by the Fonds de la Recherche du Québec sur la Nature et les Technologies (FRQNT) and by the Canada Research Chair Program.
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Gosselin, C., Foucault, S. (2015). Experimental Determination of the Accuracy of a Three-Dof Cable-Suspended Parallel Robot Performing Dynamic Trajectories. In: Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-319-09489-2_8
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DOI: https://doi.org/10.1007/978-3-319-09489-2_8
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