Planar underactuated cable-driven parallel robots (UACDPRs) employ less than three cables to control the pose of the end-effector (EE). Consequently, the EE pose cannot be calculated only from cable-length geometrical constraint equations. In order to solve the direct kinematic problem, redundant measurements may be acquired, and the EE pose calculated by optimizing the resulting system of nonlinear equations. For the optimal pose estimation of planar UACDPRs, this paper presents three sensor fusion algorithms based on nonlinear weighted least squares equations, differing for the algorithm termination conditions. Additionally, different redundant measurement sets are experimentally compared.
Pose-Estimation Methods for Planar Underactuated Cable-Driven Parallel Robots
Gabaldo S.;Ida E.
;Carricato M.
2023
Abstract
Planar underactuated cable-driven parallel robots (UACDPRs) employ less than three cables to control the pose of the end-effector (EE). Consequently, the EE pose cannot be calculated only from cable-length geometrical constraint equations. In order to solve the direct kinematic problem, redundant measurements may be acquired, and the EE pose calculated by optimizing the resulting system of nonlinear equations. For the optimal pose estimation of planar UACDPRs, this paper presents three sensor fusion algorithms based on nonlinear weighted least squares equations, differing for the algorithm termination conditions. Additionally, different redundant measurement sets are experimentally compared.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
