An Identification Methodology for 6-DoF Cable-Driven Parallel Robots Parameters Application to the INCA 6D Robot

  • Ryad Chellal
  • Edouard Laroche
  • Loïc Cuvillon
  • Jacques Gangloff
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 12)


This paper proposes a methodology for the identification of the combined kinematic and dynamic parameters of a 6-Degrees of Freedom (6-DoF) Cable-Driven Parallel Robots (CDPRs) model. This methodology aims to ensure that the errors on the kinematic parameters do not affect the performances of the dynamic parameters estimation step. The proposed methodology has been implemented on a 6-DoF INCA robot. The identified model fits the system behaviour with good accuracy, and should then be used for the synthesis and analysis of kinematic and dynamic position / vision control strategies.


Dynamic Parameter Kinematic Parameter Parallel Robot Cable Tension Haptic Interface 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Ryad Chellal
    • 1
  • Edouard Laroche
    • 1
  • Loïc Cuvillon
    • 1
  • Jacques Gangloff
    • 1
  1. 1.LSIIT (UDS/UMR CNRS/INSAS)Strasbourg UniversityIllkirch, StrasbourgFrance

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