Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots

Andrés García-Vanegas; Brhayan Liberato-Tafur; Manuel Guillermo Forero Vargas; Antonio González-Rodríguez; Fernando Castillo-García

Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots

Andrés García-Vanegas, Brhayan Liberato-Tafur, Manuel Guillermo Forero Vargas, Antonio González-Rodríguez, Fernando Castillo-García

Resultado de la investigación: Contribución a una revista › Artículo

1 Cita (Scopus)

Resumen

Techniques commonly employed to calibrate cable-driven parallel robots are manual or use sensors to measure the end-effector position indirectly. Therefore, in this paper, a cable-driven robot calibration system based on artificial vision techniques is introduced, which takes advantage of the available information, which allows calibrating the system directly from the observed video. The proposed method was validated by calibrating a planar cable-driven parallel robot prototype with 2 degrees of freedom. The measured positioning error was lower than 1mm.

Idioma original	Inglés estadounidense
Páginas (desde-hasta)	600
Número de páginas	609
Publicación	Pattern Recognition and Image Analysis
Volumen	11867
Estado	Publicada - 22 sep 2019

Palabras clave

Cable-driven parallel robot
Parallel robotic
Computer vision
Vision-based control
Robot calibration

Citar esto

García-Vanegas, A., Liberato-Tafur, B., Forero Vargas, M. G., González-Rodríguez, A., & Castillo-García, F. (2019). Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots. Pattern Recognition and Image Analysis, 11867, 600.

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title = "Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots",

abstract = "Techniques commonly employed to calibrate cable-driven parallel robots are manual or use sensors to measure the end-effector position indirectly. Therefore, in this paper, a cable-driven robot calibration system based on artificial vision techniques is introduced, which takes advantage of the available information, which allows calibrating the system directly from the observed video. The proposed method was validated by calibrating a planar cable-driven parallel robot prototype with 2 degrees of freedom. The measured positioning error was lower than 1mm.",

keywords = "Cable-driven parallel robot, Parallel robotic, Computer vision, Vision-based control, Robot calibration",

author = "Andr{\'e}s Garc{\'i}a-Vanegas and Brhayan Liberato-Tafur and {Forero Vargas}, {Manuel Guillermo} and Antonio Gonz{\'a}lez-Rodr{\'i}guez and Fernando Castillo-Garc{\'i}a",

year = "2019",

month = sep,

day = "22",

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volume = "11867",

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Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots. / García-Vanegas, Andrés; Liberato-Tafur, Brhayan; Forero Vargas, Manuel Guillermo; González-Rodríguez, Antonio; Castillo-García, Fernando.

En: Pattern Recognition and Image Analysis, Vol. 11867, 22.09.2019, p. 600.

Resultado de la investigación: Contribución a una revista › Artículo

TY - JOUR

T1 - Automatic Vision Based Calibration System for Planar Cable-Driven Parallel Robots

AU - García-Vanegas, Andrés

AU - Liberato-Tafur, Brhayan

AU - Forero Vargas, Manuel Guillermo

AU - González-Rodríguez, Antonio

AU - Castillo-García, Fernando

PY - 2019/9/22

Y1 - 2019/9/22

N2 - Techniques commonly employed to calibrate cable-driven parallel robots are manual or use sensors to measure the end-effector position indirectly. Therefore, in this paper, a cable-driven robot calibration system based on artificial vision techniques is introduced, which takes advantage of the available information, which allows calibrating the system directly from the observed video. The proposed method was validated by calibrating a planar cable-driven parallel robot prototype with 2 degrees of freedom. The measured positioning error was lower than 1mm.

AB - Techniques commonly employed to calibrate cable-driven parallel robots are manual or use sensors to measure the end-effector position indirectly. Therefore, in this paper, a cable-driven robot calibration system based on artificial vision techniques is introduced, which takes advantage of the available information, which allows calibrating the system directly from the observed video. The proposed method was validated by calibrating a planar cable-driven parallel robot prototype with 2 degrees of freedom. The measured positioning error was lower than 1mm.

KW - Cable-driven parallel robot

KW - Parallel robotic

KW - Computer vision

KW - Vision-based control

KW - Robot calibration

M3 - Article

VL - 11867

SP - 600

JO - Pattern Recognition and Image Analysis

JF - Pattern Recognition and Image Analysis

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