TY - GEN
T1 - Error analysis and flexibility compensation of a cable-driven humanoid-arm manipulator
AU - Chen, Quanzhu
AU - Chen, Weihai
AU - Liu, Rong
AU - Zhang, Jianbin
PY - 2011
Y1 - 2011
N2 - Kinematic calibration is an effective method for improving the accuracy of the robot motion control. For the cable-driven robot, the flexibility of the cable makes the robot have good compliance and meet safety requirements; however, it brings a greater influence on the movement accuracy of the mechanism. Thus, kinematic calibration alone cannot accurately establish the error model. In view of the error analysis and flexibility compensation of the cable-driven robot, this paper analyzes the effect of flexible rope on kinematic movement accuracy by introducing a flexibility compensation weighting factor. A kind of comprehensive error analysis model of the cable-driven robot was established. By using kinematic calibration algorithm, it organically merges together the kinematic errors caused by the geometric parameters errors and that caused by flexibility of cable. With shoulder joint of the cable-driven humanoid-arm manipulator as the experimental object, the results showed that the algorithm has a better convergence, and it can effectively improve the accuracy of the robot motion control.
AB - Kinematic calibration is an effective method for improving the accuracy of the robot motion control. For the cable-driven robot, the flexibility of the cable makes the robot have good compliance and meet safety requirements; however, it brings a greater influence on the movement accuracy of the mechanism. Thus, kinematic calibration alone cannot accurately establish the error model. In view of the error analysis and flexibility compensation of the cable-driven robot, this paper analyzes the effect of flexible rope on kinematic movement accuracy by introducing a flexibility compensation weighting factor. A kind of comprehensive error analysis model of the cable-driven robot was established. By using kinematic calibration algorithm, it organically merges together the kinematic errors caused by the geometric parameters errors and that caused by flexibility of cable. With shoulder joint of the cable-driven humanoid-arm manipulator as the experimental object, the results showed that the algorithm has a better convergence, and it can effectively improve the accuracy of the robot motion control.
UR - https://www.scopus.com/pages/publications/84871703249
U2 - 10.1109/ICRA.2011.5980083
DO - 10.1109/ICRA.2011.5980083
M3 - 会议稿件
AN - SCOPUS:84871703249
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 988
EP - 993
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -