A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation
Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human−robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one o...
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| Format: | Article |
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MDPI AG
2019-05-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/11/2182 |
| _version_ | 1818313908411170816 |
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| author | Han Yuan Xianghui You Yongqing Zhang Wenjing Zhang Wenfu Xu |
| author_facet | Han Yuan Xianghui You Yongqing Zhang Wenjing Zhang Wenfu Xu |
| author_sort | Han Yuan |
| collection | DOAJ |
| description | Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human−robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than <inline-formula> <math display="inline"> <semantics> <msup> <mn>10</mn> <mrow> <mo>−</mo> <mn>12</mn> </mrow> </msup> </semantics> </math> </inline-formula> mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method. |
| first_indexed | 2024-12-13T08:41:13Z |
| format | Article |
| id | doaj.art-c6fe8a9f59584de2b9ff840a8ef28801 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-13T08:41:13Z |
| publishDate | 2019-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-c6fe8a9f59584de2b9ff840a8ef288012022-12-21T23:53:32ZengMDPI AGApplied Sciences2076-34172019-05-01911218210.3390/app9112182app9112182A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to RehabilitationHan Yuan0Xianghui You1Yongqing Zhang2Wenjing Zhang3Wenfu Xu4School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, ChinaSchool of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, ChinaCable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human−robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than <inline-formula> <math display="inline"> <semantics> <msup> <mn>10</mn> <mrow> <mo>−</mo> <mn>12</mn> </mrow> </msup> </semantics> </math> </inline-formula> mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.https://www.mdpi.com/2076-3417/9/11/2182self-calibrationrehabilitationparallel robotscable robots |
| spellingShingle | Han Yuan Xianghui You Yongqing Zhang Wenjing Zhang Wenfu Xu A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation Applied Sciences self-calibration rehabilitation parallel robots cable robots |
| title | A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation |
| title_full | A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation |
| title_fullStr | A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation |
| title_full_unstemmed | A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation |
| title_short | A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation |
| title_sort | novel calibration algorithm for cable driven parallel robots with application to rehabilitation |
| topic | self-calibration rehabilitation parallel robots cable robots |
| url | https://www.mdpi.com/2076-3417/9/11/2182 |
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