CALIBRATION PROCEDURE FOR A GEOMETRICALLY RECONFIGURABLE 3-DOF CABLE-DRIVEN PARALLEL ROBOT

摘要

Cable-driven parallel robots offer certain advantages in terms of dynamics and flexibility. They differ significantly in their structure from industrial, serial robots. In this paper we introduce a novel procedure for calibration for a geometrically reconfigurable 3-DoF cable-suspended robot based on inverse kinematics including a pulley for each cable. For that we use a laser tracker with interferomet-ric measurement in combination with local 3D positioning. This is a new approach because of measuring relative laser beam lengths and cable lengths only. In addition the paper introduces a validation procedure.