Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables
Abstract
:1. Introduction
- A novel self-calibration model is proposed, which realizes the calibration of integrated parameters in a single time, and only depends on the motors’ incremental encoders. Besides, the calibration object includes the cable initial length.
- A more general cable-routing description method for various CDSMs than existing methods is presented, which integrates the complete parameters to be calibrated.
- This paper takes the lead in the calibration research for CDSMs with multi-segment cables. The experiment results expressing the influence of the calibrated parameters on robot’s motion accuracy are published, and the validity and correctness of the proposed calibration model are verified.
2. Cable-Routing Configuration Struct
2.1. Notations Description
2.2. System Description
2.3. Cable-Routing Configuration Struct (CRCS)
3. Self-Calibration Model
3.1. Basic Model used for Calibration
3.2. Self-Calibration Method
4. Experiment
4.1. Experimental Setup
4.2. Calibration Results
4.3. Comparison of Repetitive Motion Accuracy before and after Calibration
5. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Appendix A
Appendix B
Appendix B.1. Partial Derivatives with Respect to Cable Attachment Points
Appendix B.2. Partial Derivatives with Respect to Link Parameters
Appendix B.3. Partial Derivatives with Respect to Joint Positions
Appendix B.4. Partial Derivatives with Respect to Initial Cable Length
Appendix B.5. Partial Derivatives with Respect to Coefficients of Transmission System
Appendix B.6. Partial Derivatives with Respect to Motor Positions
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Notations | Meanings |
---|---|
Cable number | |
Segment number | |
Link number where attachment point of cable is located | |
The -th segment vector of cable | |
The segment vector with respect to frame | |
Segment length | |
Cable length | |
The -th attachment point of cable on link | |
The cable attachment point’s coordinates with respect to the frames | |
The vector from the origin of frame to the one of with respect to frame | |
The homogeneous transformation matrix of frame with respect to frame | |
The vector of joint positions of joint | |
The vector of the joint variables of the entire CDSM | |
The parameters of link | |
The vector of the link parameters of the entire CDSM | |
The matrix of the combination of all segment vectors | |
The vector of all segment lengths | |
The vector of all cable lengths | |
The cable-routing configuration struct (CRCS) | |
The vector of attachment points’ locations | |
The vector of the coefficients from motor positions to cable lengths | |
The vector of motor positions | |
The vector of the cable lengths at the initial (zero) moment | |
Calibration matrix | |
Integrated parameters |
Parameter | ||||||
---|---|---|---|---|---|---|
Nominal | 365.9 | 410.2 | 778.7 | 810.9 | 1103.6 | 1102.6 |
Calibrated | 364.3 | 412.6 | 774.5 | 814.7 | 1106.2 | 1098.9 |
Parameter | ||||||
---|---|---|---|---|---|---|
Nominal | 22,000 | 22,000 | 22,000 | 22,000 | 22,000 | 22,000 |
Calibrated | 22,476 | 22,645 | 21,135 | 22,286 | 21,775 | 22,636 |
Nominal Value (mm) | Calibrated Value (mm) | |
---|---|---|
(−135, 145, −170) | (−134.7056, 144.7175, −170.6476) | |
(−135, 0, −170) | (−135.0169, −0.8203, −168.5460) | |
(−135, 0, −75) | (−133.6496, −0.4076, −75.4996) | |
(89.4932, 0, −292.6467) | (90.3141, 0.1460, −292.3908) | |
(135, 145, −170) | (135.4817, 145.0531, −169.9080) | |
(135, 0, −170) | (136.6902, −1.4975, −170.9204) | |
(135, 0, −75) | (134.5120, −1.5962, −75.6662) | |
(192.7064, 0, −220.3761) | (192.6127, 0.1161, −220.3101) | |
(−95, 238, −170) | (−94.0255, 237.3885, −170.4087) | |
(−95, 20.5, −170) | (−95.2836, 19.7725, −169.5771) | |
(−95, 20.5, −75) | (−94.7733, 19.3083, −74.6078) | |
(83.1839, 20.5, −283.6360) | (83.6958, 20.4633, −283.7045) | |
(−63, 20.5, −34) | (−63.3168, 20.4400, −33.8549) | |
(−210.4091, 20.5, −265.5221) | (−211.0330, 21.8121, −264.3562) | |
(95, 238, −170) | (94.5417, 237.3128, −168.2358) | |
(95, 20.5, −170) | (96.3329, 21.9336, −168.8182) | |
(95, 20.5, −75) | (95.9179, 21.5593, −74.5564) | |
(186.3970, 20.5, −211.3654) | (185.3462, 20.4809, −209.6222) | |
(63, 20.5, −34) | (62.5947, 21.2907, −33.8836) | |
(−84.4091, 20.5, −265.5221) | (−84.9520, 19.3120, −264.3745) | |
(−55, 144, −170) | (−54.6633, 144.5745, −170.6377) | |
(−55, −20.5, −170) | (−53.7499, −19.5351, −170.1096) | |
(−55, −20.5, −75) | (−54.5923, −19.6761, −73.6925) | |
(83.1839, −20.5, −283.6360) | (82.2378, −19.8186, −284.4778) | |
(−63, −20.5, −34) | (−62.1101, −20.5494, −33.6611) | |
(−210.4091, −20.5, −254.5221) | (−208.8414, −20.4535, −255.0402) | |
(−63, −20.5, −34) | (−63.8670, −20.3929, −34.7197) | |
(−54.0640, −20.5, −47.4040) | (−53.0214, −19.5981, −46.1340) | |
(55, 144, −170) | (56.6044, 144.2717, −168.9483) | |
(55, −20.5, −170) | (55.9646, −20.1404, −171.4271) | |
(55, −20.5, −75) | (55.0254, −20.4330, −75.2431) | |
(186.3970, −20.5, −211.3654) | (186.4638, −19.0058, −211.7643) | |
(63, −20.5, −34) | (62.5720, −20.3985, −34.2693) | |
(−84.4091, −20.5, −254.5221) | (−84.0592, −20.8294, −254.7374) | |
(63, −20.5, −34) | (64.5470, −19.3600, −34.2149) | |
(54.0640, −20.5, −123.1160) | (54.9236, −20.8250, −122.6008) |
Parameter | (mm) | (mm) | (mm) | () | () |
Nominal | 55 | 246 | 55 | 0 | 35 |
Calibrated | 54.3 | 245.3 | 56.4 | −0.3 | 34.5 |
Parameter | (mm) | (mm) | (mm) | () | () |
Nominal | 55 | 257 | 55 | 35 | −35 |
Calibrated | 52.8 | 258.3 | 54.4 | 36.4 | −35.6 |
Parameter | (mm) | (mm) | (mm) | () | () |
Nominal | 55 | 85.26 | 0 | −35 | 0 |
Calibrated | 55.4 | 87.4 | 0.6 | −35.5 | 0.8 |
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Lou, Y.; Lin, H.; Quan, P.; Wei, D.; Di, S. Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables. Electronics 2021, 10, 444. https://doi.org/10.3390/electronics10040444
Lou Y, Lin H, Quan P, Wei D, Di S. Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables. Electronics. 2021; 10(4):444. https://doi.org/10.3390/electronics10040444
Chicago/Turabian StyleLou, Ya’nan, Haoyu Lin, Pengkun Quan, Dongbo Wei, and Shichun Di. 2021. "Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables" Electronics 10, no. 4: 444. https://doi.org/10.3390/electronics10040444
APA StyleLou, Y., Lin, H., Quan, P., Wei, D., & Di, S. (2021). Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables. Electronics, 10(4), 444. https://doi.org/10.3390/electronics10040444