Abstract
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.
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© 2013 CISM, Udine
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dit Sandretto, J.A., Daney, D., Gouttefarde, M. (2013). Calibration of a Fully-Constrained Parallel Cable-Driven Robot. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_10
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_10
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
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