Underactuated cable-driven parallel robots (UACDPRs) displace a 6-degree-of-freedom end-effector (EE) with less than 6 cables. As a consequence, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained from geometrical constraint equations only. In this paper, we study the performance of a direct-kinematics algorithm using redundant sensor measurements for a 4-cable UACDPR. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. A methodology for the computation of the sensitivity of the direct-kinematics solution to measurement errors is finally proposed.
Sensitivity of the Direct Kinematics of Underactuated Cable-Driven Parallel Robots to Redundant Sensor-Measurement Errors
Gabaldo S.;Ida E.;Carricato M.
2022
Abstract
Underactuated cable-driven parallel robots (UACDPRs) displace a 6-degree-of-freedom end-effector (EE) with less than 6 cables. As a consequence, the EE is underconstrained and, for assigned cable lengths, the EE pose cannot be obtained from geometrical constraint equations only. In this paper, we study the performance of a direct-kinematics algorithm using redundant sensor measurements for a 4-cable UACDPR. The proposed method measures two orientation parameters of the EE besides cable lengths, in order to determine the other four pose variables, namely 3 position coordinates and one additional orientation parameter. A methodology for the computation of the sensitivity of the direct-kinematics solution to measurement errors is finally proposed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
