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 revistaArtículo

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 originalInglés estadounidense
Páginas (desde-hasta)600
Número de páginas609
PublicaciónPattern Recognition and Image Analysis
Volumen11867
EstadoPublicada - 22 sep 2019

Palabras clave

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

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