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• W4317496712 abstract "This letter investigates initial-pose estimation (Cartesian position and orientation) for redundant cable-driven parallel robots (CDPRs). As the forward kinematics cannot be performed if the robot is equipped with incremental sensors, a calibration method using force sensors is proposed. The self-calibration problem is formulated as a non-linear least-squares optimization problem based on the hybrid joint-space control strategy. The redundant cables are tension-controlled; the other cables are maintained at a fixed length in the joint space. A position-determined cable adjustable force (P-CAF) performance index and the concept of calibratable space were proposed to maintain the quasi-static conditions. A simulated case study was used to validate the calibration process." @default.
• W4317496712 created "2023-01-20" @default.
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• W4317496712 date "2023-03-01" @default.
• W4317496712 modified "2023-09-26" @default.
• W4317496712 title "Initial-Pose Self-Calibration for Redundant Cable-Driven Parallel Robot Using Force Sensors Under Hybrid Joint-Space Control" @default.
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• W4317496712 doi "https://doi.org/10.1109/lra.2023.3238178" @default.
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