The advancement of cable-driven robot technology broadens their application scope, showcasing significant developmental promise. This study addresses the kinematic control precision deficit in quaternion joint cable-driven continuum robots by reconceptualizing the quaternion joint as a dual universal joint. Through systematic error analysis and modeling, it introduces a kinematic calibration method leveraging optimized trajectories to refine algorithmic precision. This approach streamlines calibration data acquisition, ensuring data quality and enhancing computational accuracy. Both simulations and experiments verify the proposed calibration algorithm’s efficacy in augmenting cable-driven robots’ kinematic accuracy.


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    Title :

    Error Analysis and Kinematic Calibration of Quaternion Joint Continuum Robot


    Additional title:

    Lect. Notes in Networks, Syst.


    Contributors:
    Wang, Hai (editor) / He, Lei (author) / Lunfei, Liang (author) / bin, Lan (author) / Huang, Yunzhi (author) / Han, Liang (author)

    Conference:

    International Conference on Advanced Robotics, Control, and Artificial Intelligence ; 2024 ; Perth, Australia December 09, 2024 - December 12, 2024



    Publication date :

    2025-05-22


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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