Error Analysis in Solving the Inverse Problem of the Cable-driven Parallel Underactuated Robot Kinematics and Methods for their Elimination

被引：6

作者：

Maloletov, Alexander V. ^{[1
,2
]}

Fadeev, Mikhail Y. ^{[1
]}

Klimchik, Alexandr S. ^{[1
]}

机构：

[1] Innopolis Univ, Ctr Technol Robot & Mechatron Components, Innopolis, Russia

[2] Volgograd State Tech Univ, Volgograd, Russia

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 13期

关键词：

cable-driven robot; wire robot; parallel robot; inverse kinematics; geometric analysis;

D O I：

10.1016/j.ifacol.2019.11.352

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An analysis of the geometry of a cable-driven parallel robot is carried out. The influence of the design of the guide rollers and the winding mechanisms on the errors in the determination of the cable length control laws was investigated. Two variants of the arrangement of the spools in the winch mechanisms are considered. The analysis of the magnitudes of the resulting errors is given, the conclusion is made that it is necessary to take into consideration the design of the guide rollers and the winding mechanism with the vertical position of the spool, and also the permissibility to ignore the influence of the winding mechanism with the horizontal position of the spool. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：1156 / 1161

页数：6

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