Abstract A modular cable-driven robot consists of a number of consecutively connected cable-driven joint modules. It has the advantages of lightweight structure and compliant behavior so that it can perform intrinsically safe human–robot interactions. However, a modular cable-driven robot normally has a low positioning accuracy due to the manufacturing and assembly errors in each of the cable-driven joint modules. In this work, a self-calibration method is proposed for the 2-DOF cable-driven universal joint module by utilizing its actuation redundancy. Different from the conventional self-calibration method where the absolute cable lengths need to be measured, the proposed error model is formulated based on the relative lengths changes of the diving cables. The effectiveness of the self-calibration method is verified through computer simulations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Self-calibration Method for Two DOF Cable-Driven Joint Module


    Beteiligte:
    Zheng, Tianjiang (Autor:in) / Wang, Yi (Autor:in) / Yang, Guilin (Autor:in) / Shen, Wenjun (Autor:in) / Fang, Zaojun (Autor:in) / Yang, Kaisheng (Autor:in)


    Erscheinungsdatum :

    02.10.2019


    Format / Umfang :

    9 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Efficient data-driven joint-level calibration of cable-driven surgical robots

    Peng, Haonan / Lewis, Andrew / Su, Yun-Hsuan et al. | Springer Verlag | 2024

    Freier Zugriff

    A Generic Stiffness Measurement Method for a 3-DOF Cable-Driven Joint Module

    Yang, Kaisheng / Yang, Guilin / Chen, Silu et al. | Springer Verlag | 2019



    Cable connector with cable joint

    BÖHM JÖRG | Europäisches Patentamt | 2015

    Freier Zugriff