Vision-based auto-calibration method for planar cable-driven parallel robot for warehouse and logistics tasks

被引：0
|
作者：
Li Z. [1 ]
Hou S. [1 ]
Wei J. [1 ]
Tang X. [1 ,2 ,3 ]
机构：
[1] Department of Mechanical Engineering, Tsinghua University, Beijing
[2] State Key Laboratory of Tribology, Tsinghua University, Beijing
[3] Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, Beijing
来源：
Qinghua Daxue Xuebao/Journal of Tsinghua University | 2022年 / 62卷 / 09期
关键词：
cable-driven robot; kinematics calibration; parallel mecbanism; warehouse and logistics;
D O I：
10.16511/j.cnki.qhdxxb.2022.21.026
中图分类号：
学科分类号：
摘要：
An auto-calibration met bod was developed for planar four-cable parallel robots based on visual measurements. Tbe end-effector pose is obtained using a camera fixed on tbe end-effector tbat measures tbe pose of AprilTags on storage racks. Geometric parameter identification and error compensation are tben used for rapid calibration of tbe planar four-cable parallel robot. Tbe system model is based on a kinematics model of tbe planar four-cable parallel robot for storage and logistics tasks. Tben. tbe kinematics calibration metbod is used witb tbe pose measuring metbod to calibrate tbe robot. Tbe calibration accuracy was verified using botb computer simulations and tests. Tbe results sbow tbat tbis rapid calibration metbod provides positioning accuracy of less tban 1 mm. wbicb meets tbe accuracy requirement for tbe storage and stacking tasks. © 2022 Press of Tsinghua University. All rights reserved.
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页码：1508 / 1515
页数：7
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