Abstract
In this paper, an interval based approach is proposed to rigorously identify the model parameters of a parallel cable-driven robot. The studied manipulator follows a parallel architecture having 8 cables to control the 6 DOFs of its mobile platform. This robot is complex to model, mainly due to the cable behavior. To simplify it, some hypotheses on cable properties (no mass and no elasticity) are done.An interval approach can take into account the maximal error between this model and the real one. This allows us to work with a simplified although guaranteed interval model. In addition, a specific interval operator makes it possible to manage outliers. A complete experiment validates our method for robot parameter certified identification and leads to interesting observations.
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Notes
- 1.
In our tool, the process stops if the maximal reduction on every dimension does not exceed 1%.
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Acknowledgments
This work was supported in part by the French National Research Agency (ANR) under grant 2009-SEGI-018 (CoGiRo ANR project) and in part by the Région Languedoc-Roussillon under grant 115217.
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Sandretto, J.A., Trombettoni, G., Daney, D., Chabert, G. (2014). Certified Calibration of a Cable-Driven Robot Using Interval Contractor Programming. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_24
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DOI: https://doi.org/10.1007/978-94-007-7214-4_24
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